diff --git a/.gitignore b/.gitignore
index e3ddb9ce89bbe95cb2a9a1a66c5d1473e675320a..3767a7d6cc798616511e8c56880bf808b5e57f44 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@ sharpa/
 xhand_pro/
 processed/gigahand/assets/robots/xhand/MJMODEL.TXT
 */assets/robots/xhand/MJMODEL.TXT
+.claude/
diff --git a/processed/gigahand/ability/bimanual/complete_data.csv b/processed/gigahand/ability/bimanual/complete_data.csv
index 6ef7aa315f98794b50c58084df42a3c5b0b88c08..ee39dda449f9e3962b72b6de2042c7d6649e423d 100644
--- a/processed/gigahand/ability/bimanual/complete_data.csv
+++ b/processed/gigahand/ability/bimanual/complete_data.csv
@@ -1,16 +1,16 @@
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diff --git a/processed/gigahand/ability/bimanual/p36-tea/0/config_act.yaml b/processed/gigahand/ability/bimanual/p36-tea/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6f75e441b8e32df1fe57e40148412212e0b5a6b6
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p36-tea/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: ability
+embodiment_type: bimanual
+task: p36-tea
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+dataset_dir: example_datasets
+dataset_name: gigahand
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+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/../scene_act.xml
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diff --git a/processed/gigahand/ability/bimanual/p36-tea/0/trajectory_ikrollout_act.npz b/processed/gigahand/ability/bimanual/p36-tea/0/trajectory_ikrollout_act.npz
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index 0000000000000000000000000000000000000000..0cf7e21a004225af56940c25cfc15c170f3fa708
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+- - right
+  - index
+- - right
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+- - right
+  - pinky
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+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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new file mode 100644
index 0000000000000000000000000000000000000000..7832554ebffbf263dd4843d5aa9687f6b04b330a
--- /dev/null
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+<mujoco model="bimanual">
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+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
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+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj" />
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+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
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+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <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="objects/p36-tea/convex/0.obj" />
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+    <mesh name="right_visual" file="objects/p36-tea/visual.obj" />
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+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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 0.032039" 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" 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_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_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" />
+    <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_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" />
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+    <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" />
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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" />
+    <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" />
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+    <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" />
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+    <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" />
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+    <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_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" />
+    <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_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_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" />
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+    <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" 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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/p36-tea/task_info.json b/processed/gigahand/ability/bimanual/p36-tea/task_info.json
index 87abb067ca01ad9d53c3b07352282c559b69a434..754b448202d5928dba26b8086cd8ee74b0b475c6 100644
--- a/processed/gigahand/ability/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/ability/bimanual/p36-tea/task_info.json
@@ -7,5 +7,7 @@
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/ability/bimanual/p44-dog/0/config_act.yaml b/processed/gigahand/ability/bimanual/p44-dog/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..39fd78cf3d1739829b824f908eb797203e8bd4e3
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: ability
+embodiment_type: bimanual
+task: p44-dog
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.05
+knot_dt: 0.05
+max_sim_steps: 1308
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.01
+pos_noise_scale: 0.001
+rot_noise_scale: 0.001
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 32
+- 33
+- 34
+left_pos_ctrl_ids:
+- 38
+- 39
+- 40
+contact_len: 10
+horizon_steps: 10
+knot_steps: 10
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 44
+nv: 44
+nu: 44
+npair: 396
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0
diff --git a/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_ikrollout_act.npz b/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a0401cab943b02eb12b5587ad740dd8f3ed68517
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63169a4f2904519acb510f78930661b6eb68e7db67909c87edcfe4cc9c67bd8d
+size 115366
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+robot_type: ability
+embodiment_type: bimanual
+task: p44-dog
+seed: 4
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 4
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+- right_object_pos_y
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+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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 0.032039" 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="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_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" 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_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_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_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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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="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_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" />
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+    <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_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" />
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+    <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_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_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_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_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_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_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_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_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" />
+  </contact>
+  <actuator>
+    <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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/p44-dog/task_info.json b/processed/gigahand/ability/bimanual/p44-dog/task_info.json
index 0d072c6cf9437b948732dc14b1dbfb7bed922cf8..f738d0588f332469384ee36c2457f4d436b8332e 100644
--- a/processed/gigahand/ability/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/ability/bimanual/p44-dog/task_info.json
@@ -6,5 +6,8 @@
   "data_id": 4,
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
-}
\ No newline at end of file
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/0/config_act.yaml b/processed/gigahand/ability/bimanual/p52-instrument/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..338d85071358d64c6df7dcac5838ca309410c4e9
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: ability
+embodiment_type: bimanual
+task: p52-instrument
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p52-instrument/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
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+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh" />
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C" />
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref" />
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref" />
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
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+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1" />
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C" />
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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 0.032039" 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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 0.032039" 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.025 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="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_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" 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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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_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_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_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_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_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_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_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" />
+  </contact>
+  <actuator>
+    <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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/task_info.json b/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
index 6b094348774b2c3706b42fc95c9797d46d6e06b5..ae239dc3b829de0b08eb71e22896af74c6b09281 100644
--- a/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/ability/bimanual/summary.csv b/processed/gigahand/ability/bimanual/summary.csv
index 7397a6fa534b065e9dc494edb8e4e28dded9e755..02e7879c0227145cea29e1a49652d3b54fb5e2ad 100644
--- a/processed/gigahand/ability/bimanual/summary.csv
+++ b/processed/gigahand/ability/bimanual/summary.csv
@@ -14,18 +14,18 @@ gigahand,ability,bimanual,mjwp,p44-dog,4,0.0301669093304919,0.1295346329536087,T
 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
+gigahand,ability,bimanual,mjwp_act,p52-instrument,3,0.1845155957376542,0.4415991070062689,False,0.1,0.5,1,0,0.0,0.1845155957376542,0.0,0.4415991070062689,0.0,2026-02-02 16:10:54
+gigahand,ability,bimanual,mjwp_act,p52-instrument,4,0.07578686847301537,0.38232216696591254,True,0.1,0.5,1,1,1.0,0.07578686847301537,0.0,0.38232216696591254,0.0,2026-02-02 16:10:54
+gigahand,ability,bimanual,mjwp_act,p52-instrument,1,0.09628469564528783,0.425437217948975,True,0.1,0.5,1,1,1.0,0.09628469564528783,0.0,0.425437217948975,0.0,2026-02-02 16:10:54
+gigahand,ability,bimanual,mjwp_act,p52-instrument,0,0.06821676076557007,0.33291386337563933,True,0.1,0.5,1,1,1.0,0.06821676076557007,0.0,0.33291386337563933,0.0,2026-02-02 16:10:54
+gigahand,ability,bimanual,mjwp_act,p52-instrument,2,0.12752321605586253,0.35831355140234766,False,0.1,0.5,1,0,0.0,0.12752321605586253,0.0,0.35831355140234766,0.0,2026-02-02 16:10:54
+gigahand,ability,bimanual,mjwp_act,p36-tea,3,0.09860015651362435,0.3881093435173849,True,0.1,0.5,1,1,1.0,0.09860015651362435,0.0,0.3881093435173849,0.0,2026-02-02 16:10:54
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diff --git a/processed/gigahand/allegro/bimanual/complete_data.csv b/processed/gigahand/allegro/bimanual/complete_data.csv
index 8984b5a62235e791c7d7d7d73c1ee18ad5d985e2..8a3ac0e80593f0e8c232657d252566c073c48615 100644
--- a/processed/gigahand/allegro/bimanual/complete_data.csv
+++ b/processed/gigahand/allegro/bimanual/complete_data.csv
@@ -1,16 +1,16 @@
 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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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/0/config_act.yaml b/processed/gigahand/allegro/bimanual/p36-tea/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8f497ea1d34fe9d536e95d5f764755119306d62e
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/0/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p36-tea
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
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+max_sim_steps: 1352
+nconmax_per_env: 100
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+num_dyn: 1
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+pair_margin_range:
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+- 0.005
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+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
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+object_actuator_names:
+- right_object_pos_x
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+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
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+  - thumb
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+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
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+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p36-tea/0
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/0/trajectory_ikrollout_act.npz b/processed/gigahand/allegro/bimanual/p36-tea/0/trajectory_ikrollout_act.npz
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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/1/config_act.yaml b/processed/gigahand/allegro/bimanual/p36-tea/1/config_act.yaml
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+robot_type: allegro
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+- -0.005
+- 0.005
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+- -0.005
+- 0.005
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- 49
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+- 55
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
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+  - middle
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+  - ring
+- - left
+  - pinky
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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_kinematic_act.npz b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_kinematic_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_mjwp_act.npz b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_mjwp_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p36-tea/4/trajectory_mjwp_act.npz
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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/4/visualization_mjwp_act.mp4 b/processed/gigahand/allegro/bimanual/p36-tea/4/visualization_mjwp_act.mp4
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diff --git a/processed/gigahand/allegro/bimanual/p36-tea/scene_act.xml b/processed/gigahand/allegro/bimanual/p36-tea/scene_act.xml
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index 0000000000000000000000000000000000000000..3db70f0cb264ae332bfad89320d0ffc70f62521d
--- /dev/null
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable" />
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+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
+    <rgba haze="0.15 0.25 0.35 1" />
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+      <geom density="800" />
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
+      <default class="right_visual">
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+        <default class="right_palm_visual">
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+        </default>
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+        <default class="right_palm_collision">
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+          <default class="right_thumb_base_collision">
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+          <default class="right_thumb_medial_collision">
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+          <default class="right_thumb_distal_collision">
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+      <geom density="800" />
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+      <default class="left_visual">
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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="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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+      <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_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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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_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_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_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" />
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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" />
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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" />
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+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0" />
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_index_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_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0" />
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+    <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" />
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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" />
+    <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>
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/task_info.json b/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
index 515d3e9510b7432513dca8a7c75b99084c111ec5..ea9356113c1e64703ff6e2274ccd37137600a711 100644
--- a/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
@@ -7,5 +7,7 @@
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/allegro/bimanual/p44-dog/0/config_act.yaml b/processed/gigahand/allegro/bimanual/p44-dog/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..50b4b19ee4719f595cab3da853af9cca0a9a6436
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p44-dog/0/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p44-dog
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.1
+knot_dt: 0.05
+max_sim_steps: 1308
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
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+rot_noise_scale: 0.001
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
+- 51
+- 52
+contact_len: 10
+horizon_steps: 20
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+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 301
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0
diff --git a/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_ikrollout_act.npz b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a9eaaba349be25c503b2563ff190c1bcc1100ec4
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
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--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/allegro/bimanual/p44-dog/1/config_act.yaml b/processed/gigahand/allegro/bimanual/p44-dog/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..55f151ca1653b08fd254d4ebac1bcba8f93008f5
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p44-dog/1/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p44-dog
+seed: 1
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p44-dog/0/trajectory_kinematic_act.npz
+load_config_path: ''
+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
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+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- 46
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+- right_object_rot_x
+- right_object_rot_y
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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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+- 45
+- 3
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+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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index 0000000000000000000000000000000000000000..0d27facd69556af34651d18bdf377f5e726e9455
--- /dev/null
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+<mujoco model="bimanual">
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+                <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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="0.488538 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
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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_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>
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/allegro/bimanual/p44-dog/task_info.json b/processed/gigahand/allegro/bimanual/p44-dog/task_info.json
index 3ce87e0493ac4414843e3c0762ddb289a3574d08..d7bef8deb559d3bdaf6c1a838db0a234d194a0b9 100644
--- a/processed/gigahand/allegro/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p44-dog/task_info.json
@@ -6,5 +6,8 @@
   "data_id": 4,
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
-}
\ No newline at end of file
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/0/config_act.yaml b/processed/gigahand/allegro/bimanual/p52-instrument/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fff5463fe74338275516aec8466253d0f82ca8ea
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/0/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p52-instrument
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 516
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.001
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
+- 51
+- 52
+contact_len: 10
+horizon_steps: 80
+knot_steps: 40
+ref_steps: 4
+ctrl_steps: 40
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 247
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz b/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b36b16110a722fb60bb79c1b0489f15c7edc65a
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 58054
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_kinematic_act.npz b/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 216812
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_mjwp_act.npz b/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
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index 0000000000000000000000000000000000000000..a2702ad4dc4937756d6a901777153d43729e044c
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 744710
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/0/visualization_ik_act.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/0/visualization_ik_act.mp4
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--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 196868
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/0/visualization_mjwp_act.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/0/visualization_mjwp_act.mp4
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index 0000000000000000000000000000000000000000..50460531d366096df6b35bb9e092856d5fd778ee
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 804111
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/1/config_act.yaml b/processed/gigahand/allegro/bimanual/p52-instrument/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..59697e046eb618405292de9d627f478339dde68d
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/1/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: p52-instrument
+seed: 1
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
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+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 516
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.001
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
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+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
+- 51
+- 52
+contact_len: 10
+horizon_steps: 80
+knot_steps: 40
+ref_steps: 4
+ctrl_steps: 40
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 247
+beta_traj: 0.9630748444263257
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/allegro/bimanual/p52-instrument/4
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_kinematic_act.npz b/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_kinematic_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_mjwp_act.npz b/processed/gigahand/allegro/bimanual/p52-instrument/4/trajectory_mjwp_act.npz
new file mode 100644
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/visualization_ik_act.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/4/visualization_ik_act.mp4
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--- /dev/null
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/4/visualization_mjwp_act.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/4/visualization_mjwp_act.mp4
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/scene_act.xml b/processed/gigahand/allegro/bimanual/p52-instrument/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..697eb1a5148b64751acda57d220ceb49764aa226
--- /dev/null
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable" />
+  </option>
+  <visual>
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+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
+    <rgba haze="0.15 0.25 0.35 1" />
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+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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="0.51175 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
+    <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_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" />
+    <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_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" />
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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_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>
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json b/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
index 5bfb429d9ed57d9a7a59c6a1b409f64accfdf0f2..ae4675934c1352c113702ca6de21b8f1da8231d6 100644
--- a/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/allegro/bimanual/summary.csv b/processed/gigahand/allegro/bimanual/summary.csv
index 44621725b2664562ddb2eb22a8d1f890a357ac9a..a0955e6ed3c8fdfdc25944128e228ae1b0914e76 100644
--- a/processed/gigahand/allegro/bimanual/summary.csv
+++ b/processed/gigahand/allegro/bimanual/summary.csv
@@ -16,18 +16,18 @@ gigahand,allegro,bimanual,mjwp,p44-dog,4,0.0358450616516336,0.078399684087304,Tr
 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
+gigahand,allegro,bimanual,mjwp_act,p52-instrument,3,0.08714455490205414,0.13659571205736218,True,0.1,0.5,1,1,1.0,0.08714455490205414,0.0,0.13659571205736218,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p52-instrument,4,0.049453691026648774,0.12648933884228863,True,0.1,0.5,1,1,1.0,0.049453691026648774,0.0,0.12648933884228863,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p52-instrument,1,0.08714455490205414,0.13659571205736218,True,0.1,0.5,1,1,1.0,0.08714455490205414,0.0,0.13659571205736218,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p52-instrument,0,0.09067040626466559,0.19675377232306526,True,0.1,0.5,1,1,1.0,0.09067040626466559,0.0,0.19675377232306526,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p52-instrument,2,0.08280717024667798,0.16216683223359415,True,0.1,0.5,1,1,1.0,0.08280717024667798,0.0,0.16216683223359415,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p36-tea,3,0.013893592388033038,0.13601817036540842,True,0.1,0.5,1,1,1.0,0.013893592388033038,0.0,0.13601817036540842,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p36-tea,4,0.06493740222961818,0.19183424824112372,True,0.1,0.5,1,1,1.0,0.06493740222961818,0.0,0.19183424824112372,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p36-tea,1,0.0931632528430266,0.17948347182503924,True,0.1,0.5,1,1,1.0,0.0931632528430266,0.0,0.17948347182503924,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p36-tea,0,0.01229287644635172,0.11737114186961074,True,0.1,0.5,1,1,1.0,0.01229287644635172,0.0,0.11737114186961074,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p36-tea,2,0.03419418531319719,0.06322650319834451,True,0.1,0.5,1,1,1.0,0.03419418531319719,0.0,0.06322650319834451,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p44-dog,3,0.0798493648514398,0.22112434970125927,True,0.1,0.5,1,1,1.0,0.0798493648514398,0.0,0.22112434970125927,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p44-dog,4,0.07758080026054602,0.2246494114852494,True,0.1,0.5,1,1,1.0,0.07758080026054602,0.0,0.2246494114852494,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p44-dog,1,0.0706525132207436,0.20723925405056745,True,0.1,0.5,1,1,1.0,0.0706525132207436,0.0,0.20723925405056745,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p44-dog,0,0.09024915343567423,0.25010996095256754,True,0.1,0.5,1,1,1.0,0.09024915343567423,0.0,0.25010996095256754,0.0,2026-02-02 16:10:54
+gigahand,allegro,bimanual,mjwp_act,p44-dog,2,0.08131298497847843,0.23866050376855527,True,0.1,0.5,1,1,1.0,0.08131298497847843,0.0,0.23866050376855527,0.0,2026-02-02 16:10:54
diff --git a/processed/gigahand/assets/robots/inspire/left.xml b/processed/gigahand/assets/robots/inspire/left.xml
index bd6812010156ee5641102eedbcd81202c0597efb..dd6c1827a924a65e40747649722f4ba936ff54f0 100644
--- a/processed/gigahand/assets/robots/inspire/left.xml
+++ b/processed/gigahand/assets/robots/inspire/left.xml
@@ -308,4 +308,4 @@
         <position name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" />
 
     </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 30f9b3676975d3b1ba9c592878fd1bfd5d66a4dc..54c2010654d52d2756f0320d9db8a09549a9f6c6 100644
--- a/processed/gigahand/inspire/bimanual/complete_data.csv
+++ b/processed/gigahand/inspire/bimanual/complete_data.csv
@@ -1,16 +1,16 @@
 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
-gigahand,inspire,bimanual,mjwp,p52-instrument,3,p52-instrument/3,0.027814214495344696,0.11129027028931963,0.027814214495344696,6.6278200640912486e-06,0.11129027028931963,2.527551924261157e-05,True,0.1,0.5
-gigahand,inspire,bimanual,mjwp,p52-instrument,4,p52-instrument/4,0.022570148893440556,0.1333566890044617,0.022570148893440556,6.627820095389722e-06,0.1333566890044617,2.5275532766225116e-05,True,0.1,0.5
-gigahand,inspire,bimanual,mjwp,p36-tea,0,p36-tea/0,0.0510716947299451,0.5533836902828345,0.0510716947299451,2.130923879292037e-06,0.5533836902828345,3.1352158866621736e-05,False,0.1,0.5
-gigahand,inspire,bimanual,mjwp,p36-tea,1,p36-tea/1,0.04727887397511945,0.5811962774357521,0.04727887397511945,2.130923879292037e-06,0.5811962774357521,3.135215895125931e-05,False,0.1,0.5
-gigahand,inspire,bimanual,mjwp,p36-tea,2,p36-tea/2,0.04629234546235405,0.5784270044738866,0.04629234546235405,2.130923879292037e-06,0.5784270044738866,3.135216032748004e-05,False,0.1,0.5
-gigahand,inspire,bimanual,mjwp,p36-tea,3,p36-tea/3,0.05238502700937066,0.5172343322921029,0.05238502700937066,2.130923879292037e-06,0.5172343322921029,3.135215895125931e-05,False,0.1,0.5
-gigahand,inspire,bimanual,mjwp,p36-tea,4,p36-tea/4,0.055290610375897165,0.5968969574092392,0.055290610375897165,2.130923879292037e-06,0.5968969574092392,3.135215895125931e-05,False,0.1,0.5
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index 0000000000000000000000000000000000000000..b5293308b50eb5cbf228f1e0376e65965ee110fc
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diff --git a/processed/gigahand/inspire/bimanual/p36-tea/scene_act.xml b/processed/gigahand/inspire/bimanual/p36-tea/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3bde5dc1e8cfbf5f530ea15e64059a962931fb02
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p36-tea/scene_act.xml
@@ -0,0 +1,951 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="20">
+    <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" />
+  </visual>
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1" />
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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="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" />
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL" />
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL" />
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL" />
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL" />
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL" />
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL" />
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL" />
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL" />
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL" />
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL" />
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL" />
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL" />
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL" />
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL" />
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL" />
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL" />
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL" />
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL" />
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL" />
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL" />
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL" />
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL" />
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL" />
+    <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/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>
+  <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" />
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link" />
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08" />
+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07" />
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07" />
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08" />
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom name="collision_hand_right_thumb_0" size="0.005 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07" />
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
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+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom name="collision_hand_right_index_0" size="0.005 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
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+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
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+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
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+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
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+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
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+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
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+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
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+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
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+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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="0.00187915 0.081854 -0.0269697" 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="-0.0291784 0.0791531 0.00562098" 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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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" />
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+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
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+    <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="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/p36-tea/task_info.json b/processed/gigahand/inspire/bimanual/p36-tea/task_info.json
index 71e773e23c674ce97d34a51cba59f5f17b19ee21..27ed16ee4e9b11fca7b12920b6f01d2e1c57dc57 100644
--- a/processed/gigahand/inspire/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/inspire/bimanual/p36-tea/task_info.json
@@ -7,5 +7,7 @@
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/inspire/bimanual/p44-dog/0/config_act.yaml b/processed/gigahand/inspire/bimanual/p44-dog/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4b3a5c1a1b07dfef5d95ae9cc37f6f48dc0715d3
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p44-dog/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: p44-dog
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p44-dog/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p44-dog/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.05
+knot_dt: 0.05
+max_sim_steps: 1308
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
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+vel_rew_scale: 0.0001
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+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:
+- 33
+- 55
+- 3
+- 6
+- 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
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+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
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+- 2
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+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
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+- 36
+- 37
+- 38
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+- 43
+- 44
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+nq_obj: 12
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+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p44-dog/0
diff --git a/processed/gigahand/inspire/bimanual/p44-dog/0/trajectory_ikrollout_act.npz b/processed/gigahand/inspire/bimanual/p44-dog/0/trajectory_ikrollout_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p44-dog/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/inspire/bimanual/p44-dog/0/trajectory_kinematic_act.npz b/processed/gigahand/inspire/bimanual/p44-dog/0/trajectory_kinematic_act.npz
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@@ -0,0 +1,3 @@
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diff --git a/processed/gigahand/inspire/bimanual/p44-dog/1/config_act.yaml b/processed/gigahand/inspire/bimanual/p44-dog/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49b27f2b1080cc98d6f2e52eb7a2ad7645755ab7
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p44-dog/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: p44-dog
+seed: 1
+dataset_dir: example_datasets
+dataset_name: gigahand
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+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p44-dog/1/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p44-dog/1/trajectory_kinematic_act.npz
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diff --git a/processed/gigahand/inspire/bimanual/p44-dog/2/config_act.yaml b/processed/gigahand/inspire/bimanual/p44-dog/2/config_act.yaml
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@@ -0,0 +1,186 @@
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+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL" />
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL" />
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL" />
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL" />
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL" />
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL" />
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL" />
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL" />
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL" />
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL" />
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL" />
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL" />
+    <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/p44-dog/convex/0.obj" />
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj" />
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj" />
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj" />
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj" />
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj" />
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj" />
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj" />
+    <mesh name="right_visual" file="objects/p44-dog/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" />
+    <body name="right_hand_base" gravcomp="1">
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+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
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+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
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+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
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+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
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+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
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+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
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+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
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+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
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+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
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+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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="0.488538 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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="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_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" />
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+    <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" />
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+    <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" />
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+    <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_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_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" />
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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="right_object_4" name="collision_hand_left_middle_0_right_object_4" 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" />
+    <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_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_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_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" />
+  </contact>
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/p44-dog/task_info.json b/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
index c234dc925284af8f5fbaab04aa94bddeab3551db..0d31d8471e3fa7b669f08a4b7c8cf472b37fbb82 100644
--- a/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
@@ -6,5 +6,8 @@
   "data_id": 4,
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
-}
\ No newline at end of file
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/0/config_act.yaml b/processed/gigahand/inspire/bimanual/p52-instrument/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bb7c165601f6f3db296ec8a004cdd2e805249a42
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: p52-instrument
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p52-instrument/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 516
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.001
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 80
+knot_steps: 40
+ref_steps: 4
+ctrl_steps: 40
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 264
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p52-instrument/0
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz b/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..895440de20339b99fca2a6ad0128b91b12c21bb1
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87fd0c507799c173e973cb138fd2c41f2be4e34fd4e73ea57243ba1e5cac95bd
+size 49798
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_kinematic_act.npz b/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..657a646691881df4d4c43d96734bb5b6e53684ca
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea58c52ca357b7901fd45cbb05b75edd4e976ae851c9f7fe6f2b20ed2f905ffd
+size 233964
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_mjwp_act.npz b/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce135d46bd326c1db74270aab6e1d4c3fb763fa2
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8362816fe4b557dc97776198770450a6393c806c389f3f34ae9f6fb9c2fe2a3
+size 644870
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/0/visualization_ik_act.mp4 b/processed/gigahand/inspire/bimanual/p52-instrument/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63b7c4274bf71e5d5ddc23dbea61bd3b63a281a9
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:730628e8b81592be84e96c2c23727542177da137e95adefbcad765d5ab0d35da
+size 171363
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/0/visualization_mjwp_act.mp4 b/processed/gigahand/inspire/bimanual/p52-instrument/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..540875579977e781cf0db3c029b12da845947e2c
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abcd5b7fb7356e66fdf4f593f41359f78f0bb003e3111465f0f8630e7e6ff161
+size 359987
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/1/config_act.yaml b/processed/gigahand/inspire/bimanual/p52-instrument/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..394c7a4c0c03f8ff4338d516e1f4a3396db216a6
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: p52-instrument
+seed: 1
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p52-instrument/1/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/inspire/bimanual/p52-instrument/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 516
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
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+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
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+  - ring
+- - left
+  - pinky
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+    <mesh name="right_0" file="objects/p52-instrument/convex/0.obj" />
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+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08" />
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
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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="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_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_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" />
+    <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_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_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_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_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_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0" />
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+    <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_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0" />
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+    <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_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_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" />
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+    <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" />
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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" />
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+    <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" />
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+    <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" />
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+    <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" />
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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" />
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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" />
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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" />
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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_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_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_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_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" />
+  </contact>
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json b/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
index 9fb73e88c5de574804ff7e7b94cf66518e53fdbd..78a95ea5861d72f5636f4e748d372e76fdd7266b 100644
--- a/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/inspire/bimanual/summary.csv b/processed/gigahand/inspire/bimanual/summary.csv
index aaef4301c93c91827fb1cca647771f478115bfac..6fbfb9e1749185aefc2a6aa580104886364387f2 100644
--- a/processed/gigahand/inspire/bimanual/summary.csv
+++ b/processed/gigahand/inspire/bimanual/summary.csv
@@ -16,18 +16,18 @@ gigahand,inspire,bimanual,mjwp,p44-dog,4,0.0199246939164841,0.1085724937160769,T
 gigahand,inspire,bimanual,mjwp,p44-dog,1,0.0233551228529053,0.1000265877352133,True,0.1,0.6,1,1,1.0,0.0233551228529053,0.0,0.1000265877352133,0.0,2026-01-27 17:29:39
 gigahand,inspire,bimanual,mjwp,p44-dog,0,0.0259140725617506,0.1001304323933836,True,0.1,0.6,1,1,1.0,0.0259140725617506,0.0,0.1001304323933836,0.0,2026-01-27 17:29:39
 gigahand,inspire,bimanual,mjwp,p44-dog,2,0.0289263570543817,0.0969658741270077,True,0.1,0.6,1,1,1.0,0.0289263570543817,0.0,0.0969658741270077,0.0,2026-01-27 17:29:39
-gigahand,inspire,bimanual,mjwp,p52-instrument,0,0.026037509448905136,0.1311968266181004,True,0.1,0.5,1,1,1.0,0.026037509448905136,0.0,0.1311968266181004,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p52-instrument,1,0.0278616284169149,0.12160598856888592,True,0.1,0.5,1,1,1.0,0.0278616284169149,0.0,0.12160598856888592,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p52-instrument,2,0.025672443732808334,0.11862242664253453,True,0.1,0.5,1,1,1.0,0.025672443732808334,0.0,0.11862242664253453,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p52-instrument,3,0.027814214495344696,0.11129027028931963,True,0.1,0.5,1,1,1.0,0.027814214495344696,0.0,0.11129027028931963,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p52-instrument,4,0.022570148893440556,0.1333566890044617,True,0.1,0.5,1,1,1.0,0.022570148893440556,0.0,0.1333566890044617,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p36-tea,0,0.0510716947299451,0.5533836902828345,False,0.1,0.5,1,0,0.0,0.0510716947299451,0.0,0.5533836902828345,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p36-tea,1,0.04727887397511945,0.5811962774357521,False,0.1,0.5,1,0,0.0,0.04727887397511945,0.0,0.5811962774357521,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p36-tea,2,0.04629234546235405,0.5784270044738866,False,0.1,0.5,1,0,0.0,0.04629234546235405,0.0,0.5784270044738866,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p36-tea,3,0.05238502700937066,0.5172343322921029,False,0.1,0.5,1,0,0.0,0.05238502700937066,0.0,0.5172343322921029,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p36-tea,4,0.055290610375897165,0.5968969574092392,False,0.1,0.5,1,0,0.0,0.055290610375897165,0.0,0.5968969574092392,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p44-dog,0,0.025914072561750646,0.10013043239338362,True,0.1,0.5,1,1,1.0,0.025914072561750646,0.0,0.10013043239338362,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p44-dog,1,0.02335512285290538,0.10002658773521331,True,0.1,0.5,1,1,1.0,0.02335512285290538,0.0,0.10002658773521331,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p44-dog,2,0.028926357054381763,0.09696587412700773,True,0.1,0.5,1,1,1.0,0.028926357054381763,0.0,0.09696587412700773,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p44-dog,3,0.01970155168566585,0.1056721379947612,True,0.1,0.5,1,1,1.0,0.01970155168566585,0.0,0.1056721379947612,0.0,2026-01-28 14:23:46
-gigahand,inspire,bimanual,mjwp,p44-dog,4,0.019924693916484132,0.10857249371607691,True,0.1,0.5,1,1,1.0,0.019924693916484132,0.0,0.10857249371607691,0.0,2026-01-28 14:23:46
+gigahand,inspire,bimanual,mjwp_act,p52-instrument,3,0.04438776682758576,0.3013473035081376,True,0.1,0.5,1,1,1.0,0.04438776682758576,0.0,0.3013473035081376,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p52-instrument,4,0.05948803737834529,0.18822767213316732,True,0.1,0.5,1,1,1.0,0.05948803737834529,0.0,0.18822767213316732,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p52-instrument,1,0.19813023993677661,0.6911082469225173,False,0.1,0.5,1,0,0.0,0.19813023993677661,0.0,0.6911082469225173,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p52-instrument,0,0.03563914163717705,0.3338322105703533,True,0.1,0.5,1,1,1.0,0.03563914163717705,0.0,0.3338322105703533,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p52-instrument,2,0.04441921967115065,0.44015556677142825,True,0.1,0.5,1,1,1.0,0.04441921967115065,0.0,0.44015556677142825,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p36-tea,3,0.0476282951240699,0.24381628617884174,True,0.1,0.5,1,1,1.0,0.0476282951240699,0.0,0.24381628617884174,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p36-tea,4,0.057508392788611695,0.2380325758401825,True,0.1,0.5,1,1,1.0,0.057508392788611695,0.0,0.2380325758401825,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p36-tea,1,0.031535992351461074,0.2329494090673844,True,0.1,0.5,1,1,1.0,0.031535992351461074,0.0,0.2329494090673844,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p36-tea,0,0.050860786033697786,0.27494204463971017,True,0.1,0.5,1,1,1.0,0.050860786033697786,0.0,0.27494204463971017,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p36-tea,2,0.028205077971716175,0.20265169431459454,True,0.1,0.5,1,1,1.0,0.028205077971716175,0.0,0.20265169431459454,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p44-dog,3,0.020891507542842882,0.1479978253642601,True,0.1,0.5,1,1,1.0,0.020891507542842882,0.0,0.1479978253642601,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p44-dog,4,0.02161289329308972,0.1501917154673084,True,0.1,0.5,1,1,1.0,0.02161289329308972,0.0,0.1501917154673084,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p44-dog,1,0.018674038100964345,0.14194376513214518,True,0.1,0.5,1,1,1.0,0.018674038100964345,0.0,0.14194376513214518,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p44-dog,0,0.01984841575431927,0.1439981731433262,True,0.1,0.5,1,1,1.0,0.01984841575431927,0.0,0.1439981731433262,0.0,2026-02-02 16:10:54
+gigahand,inspire,bimanual,mjwp_act,p44-dog,2,0.019167379603804813,0.14516289711626149,True,0.1,0.5,1,1,1.0,0.019167379603804813,0.0,0.14516289711626149,0.0,2026-02-02 16:10:54
diff --git a/processed/gigahand/mano/bimanual/p36-tea/task_info.json b/processed/gigahand/mano/bimanual/p36-tea/task_info.json
index 239bcfa0f66c816b027492318599c7d5a403fa2a..7da26117a92512280b64e6ab07d23db17b0d8f20 100644
--- a/processed/gigahand/mano/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/mano/bimanual/p36-tea/task_info.json
@@ -7,5 +7,7 @@
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
diff --git a/processed/gigahand/mano/bimanual/p44-dog/task_info.json b/processed/gigahand/mano/bimanual/p44-dog/task_info.json
index a367842ad563b2645b4f93c7c333a5c4942f4bdf..1db1be571278bceeeee505396930fc5d4c115ff4 100644
--- a/processed/gigahand/mano/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/mano/bimanual/p44-dog/task_info.json
@@ -6,5 +6,8 @@
   "data_id": 4,
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
-}
\ No newline at end of file
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/mano/bimanual/p52-instrument/task_info.json b/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
index 330b32e715dab2d95f5f699a92137aa70837ce75..b80f5b2db86fb78ef3dec5cfc186843b76b51d88 100644
--- a/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/schunk/bimanual/complete_data.csv b/processed/gigahand/schunk/bimanual/complete_data.csv
index 68c1af3ddd9f83abe4a9e08e065e458d6bf55422..3a7eb6f45b991c5059a85dcbd5ccdd5d7f7560c3 100644
--- a/processed/gigahand/schunk/bimanual/complete_data.csv
+++ b/processed/gigahand/schunk/bimanual/complete_data.csv
@@ -1,16 +1,16 @@
 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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diff --git a/processed/gigahand/schunk/bimanual/p36-tea/0/config_act.yaml b/processed/gigahand/schunk/bimanual/p36-tea/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..30cd7d0df9457fba992950783ca0e70002aa31a8
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p36-tea/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: p36-tea
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p36-tea/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p36-tea/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
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+max_sim_steps: 1352
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
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+- right_object_rot_y
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+- left_object_rot_y
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+init_pos_actuator_gain: 10.0
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+viewer: ''
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+save_metrics: true
+save_config: true
+trace_dt: 0.02
+num_trace_uniform_samples: 4
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+contact_order:
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+  - thumb
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+- - right
+  - middle
+- - right
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+- - right
+  - pinky
+- - left
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+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p36-tea/0
diff --git a/processed/gigahand/schunk/bimanual/p36-tea/0/trajectory_ikrollout_act.npz b/processed/gigahand/schunk/bimanual/p36-tea/0/trajectory_ikrollout_act.npz
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+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.03
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+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 3
+- 12
+- 15
+- 6
+- 9
+- 18
+- 27
+- 30
+- 21
+- 24
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+- 0
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+- 5
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+- 52
+- 53
+- 54
+left_pos_ctrl_ids:
+- 58
+- 59
+- 60
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+horizon_steps: 320
+knot_steps: 80
+ref_steps: 4
+ctrl_steps: 40
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/schunk/bimanual/p36-tea/4
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diff --git a/processed/gigahand/schunk/bimanual/p36-tea/scene_act.xml b/processed/gigahand/schunk/bimanual/p36-tea/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..500dc545d1f498938508637038a651163dab9445
--- /dev/null
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
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+    <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="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_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj" />
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj" />
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj" />
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj" />
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj" />
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj" />
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj" />
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj" />
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj" />
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj" />
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj" />
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj" />
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj" />
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj" />
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj" />
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj" />
+    <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/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>
+  <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" />
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
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+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
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+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
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+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
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+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
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+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 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_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
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+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
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+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
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+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971" />
+                          <geom type="mesh" mesh="right_finger_tip" />
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+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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" />
+    <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_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_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="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="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" />
+    <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="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_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" />
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+    <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="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <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" />
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+    <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" />
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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" />
+    <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>
+    <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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/p36-tea/task_info.json b/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
index b20152d79e68b83915efa82bdb61963d3c6aebe0..f28619f95eb3c45cc7214bc826e9876455438fb2 100644
--- a/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
@@ -7,5 +7,7 @@
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/0/config_act.yaml b/processed/gigahand/schunk/bimanual/p44-dog/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..df44b7c5865276aa04b9ca052147dc6a5d5af3b6
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: p44-dog
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p44-dog/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p44-dog/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.05
+knot_dt: 0.05
+max_sim_steps: 1308
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.01
+pos_noise_scale: 0.001
+rot_noise_scale: 0.001
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
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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" />
+                        <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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
+    <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_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_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="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="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_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_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" />
+    <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="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" />
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0" />
+    <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" />
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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" />
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+    <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" />
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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" />
+    <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_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_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" />
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+    <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" />
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+    <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_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" />
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+    <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="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" />
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+    <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_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_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_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_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_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_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_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_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_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="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" />
+  </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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/task_info.json b/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
index 9ae54d6673188b32b7d9242177932125617ec33a..840bf431878eba0495c04c1a733779d9339e2ec9 100644
--- a/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
@@ -6,5 +6,8 @@
   "data_id": 4,
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
-}
\ No newline at end of file
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/0/config_act.yaml b/processed/gigahand/schunk/bimanual/p52-instrument/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0614bd84e62f3da2b48edb4022ca6bc6583742e6
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: p52-instrument
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 516
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
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+pos_noise_scale: 0.001
+rot_noise_scale: 0.03
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+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
+- 22
+- 25
+- 28
+- 31
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 3
+- 12
+- 15
+- 6
+- 9
+- 18
+- 27
+- 30
+- 21
+- 24
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
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+- 52
+- 53
+- 54
+left_pos_ctrl_ids:
+- 58
+- 59
+- 60
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+ref_steps: 4
+ctrl_steps: 40
+nq_obj: 12
+nq: 64
+nv: 64
+nu: 64
+npair: 324
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/0
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz b/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3eaf0581284952b613440bfd3c54a8c0c2f26b5f
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ccf31806196938327acf849f7c975b34d0a29d7d531900182a85346b76e67cf
+size 66310
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new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_mjwp_act.npz b/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
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+++ b/processed/gigahand/schunk/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 844550
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/0/visualization_ik_act.mp4 b/processed/gigahand/schunk/bimanual/p52-instrument/0/visualization_ik_act.mp4
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 73453
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/1/config_act.yaml b/processed/gigahand/schunk/bimanual/p52-instrument/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..45a9087b5929575677c4d6ae22d657929f7acf5e
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: p52-instrument
+seed: 1
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/1/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
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+max_sim_steps: 516
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
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+- right_object_pos_x
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
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+- left_object_rot_z
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+save_config: true
+trace_dt: 0.02
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+- 55
+- 2
+- 5
+- 8
+- 11
+- 14
+- 19
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+- 25
+- 28
+- 31
+contact_order:
+- - right
+  - thumb
+- - right
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+- - right
+  - middle
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+  - ring
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+  - pinky
+- - left
+  - thumb
+- - left
+  - index
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+  - pinky
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/1/trajectory_kinematic_act.npz b/processed/gigahand/schunk/bimanual/p52-instrument/1/trajectory_kinematic_act.npz
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/2/config_act.yaml b/processed/gigahand/schunk/bimanual/p52-instrument/2/config_act.yaml
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index 0000000000000000000000000000000000000000..c15bbaf357f47a1b5b4c2056bb5a4298e54b2f73
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@@ -0,0 +1,186 @@
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+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/schunk/bimanual/p52-instrument/2/../scene_act.xml
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+- left_object_rot_x
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+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj" />
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj" />
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj" />
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj" />
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj" />
+    <mesh name="right_visual" file="objects/p52-instrument/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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
+    <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_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_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" />
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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_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" />
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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" />
+    <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_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" />
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+    <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" />
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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_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_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" />
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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="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_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" />
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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_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="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="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_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_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" />
+    <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="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_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" />
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+    <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_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="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="right_object_0" name="collision_hand_right_pinky_0_right_object_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_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_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_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_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_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_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="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" />
+  </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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json b/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
index 9850a9342297614cfc330310708737170e5d3a26..cef403a10ab9e2b3a5de34fafc5ab60a32beecf1 100644
--- a/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/schunk/bimanual/summary.csv b/processed/gigahand/schunk/bimanual/summary.csv
index f17e89f7e02d3e8b1831da19fe7759e57e371d48..f74fa25a2417a0c8d9f751c28a65e0eb7f7eb9ce 100644
--- a/processed/gigahand/schunk/bimanual/summary.csv
+++ b/processed/gigahand/schunk/bimanual/summary.csv
@@ -16,18 +16,18 @@ gigahand,schunk,bimanual,mjwp,p44-dog,4,0.029887152190361,0.1044612658359881,Tru
 gigahand,schunk,bimanual,mjwp,p44-dog,1,0.0353732406421093,0.1174338153175741,True,0.1,0.6,1,1,1.0,0.0353732406421093,0.0,0.1174338153175741,0.0,2026-01-27 17:29:46
 gigahand,schunk,bimanual,mjwp,p44-dog,0,0.0321265454856646,0.1147489395974267,True,0.1,0.6,1,1,1.0,0.0321265454856646,0.0,0.1147489395974267,0.0,2026-01-27 17:29:46
 gigahand,schunk,bimanual,mjwp,p44-dog,2,0.0299727404270846,0.1225554750586843,True,0.1,0.6,1,1,1.0,0.0299727404270846,0.0,0.1225554750586843,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p52-instrument,0,0.08732598594786342,0.24988417932899948,True,0.1,0.5,1,1,1.0,0.08732598594786342,0.0,0.24988417932899948,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p52-instrument,1,0.0811118182816682,0.33127533656440356,True,0.1,0.5,1,1,1.0,0.0811118182816682,0.0,0.33127533656440356,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p52-instrument,2,0.08229525311791203,0.33557213872364,True,0.1,0.5,1,1,1.0,0.08229525311791203,0.0,0.33557213872364,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p52-instrument,3,0.0542700293960328,0.277968204922561,True,0.1,0.5,1,1,1.0,0.0542700293960328,0.0,0.277968204922561,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p52-instrument,4,0.06740772321220727,0.28059429200494046,True,0.1,0.5,1,1,1.0,0.06740772321220727,0.0,0.28059429200494046,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p36-tea,0,0.022101399595228655,0.4697980007981099,True,0.1,0.5,1,1,1.0,0.022101399595228655,0.0,0.4697980007981099,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p36-tea,1,0.020123625219108383,0.3263447477263541,True,0.1,0.5,1,1,1.0,0.020123625219108383,0.0,0.3263447477263541,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p36-tea,2,0.1417396113453667,1.626426829899086,False,0.1,0.5,1,0,0.0,0.1417396113453667,0.0,1.626426829899086,0.0,2026-01-28 14:23:38
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-gigahand,schunk,bimanual,mjwp,p44-dog,2,0.029972740427084622,0.12255547505868439,True,0.1,0.5,1,1,1.0,0.029972740427084622,0.0,0.12255547505868439,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p44-dog,3,0.0298196178642584,0.11272403424964518,True,0.1,0.5,1,1,1.0,0.0298196178642584,0.0,0.11272403424964518,0.0,2026-01-28 14:23:38
-gigahand,schunk,bimanual,mjwp,p44-dog,4,0.029887152190361033,0.10446126583598811,True,0.1,0.5,1,1,1.0,0.029887152190361033,0.0,0.10446126583598811,0.0,2026-01-28 14:23:38
+gigahand,schunk,bimanual,mjwp_act,p52-instrument,0,0.09119189878474039,0.24865195364911877,True,0.1,0.5,1,1,1.0,0.09119189878474039,0.0,0.24865195364911877,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p52-instrument,1,0.09737822301687454,0.26826113072270447,True,0.1,0.5,1,1,1.0,0.09737822301687454,0.0,0.26826113072270447,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p52-instrument,2,0.0834142578275253,0.23589546627571498,True,0.1,0.5,1,1,1.0,0.0834142578275253,0.0,0.23589546627571498,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p52-instrument,3,0.09783428436743993,0.262145606899786,True,0.1,0.5,1,1,1.0,0.09783428436743993,0.0,0.262145606899786,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p52-instrument,4,0.0834142578275253,0.23589546627571498,True,0.1,0.5,1,1,1.0,0.0834142578275253,0.0,0.23589546627571498,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p36-tea,0,0.09858379012451284,0.4368013536768013,True,0.1,0.5,1,1,1.0,0.09858379012451284,0.0,0.4368013536768013,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p36-tea,1,0.09983501399585563,0.48956990015999285,True,0.1,0.5,1,1,1.0,0.09983501399585563,0.0,0.48956990015999285,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p36-tea,2,0.09350778058016866,0.47457747355954405,True,0.1,0.5,1,1,1.0,0.09350778058016866,0.0,0.47457747355954405,0.0,2026-02-02 16:11:03
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+gigahand,schunk,bimanual,mjwp_act,p44-dog,0,0.028665062635000592,0.1725719166766552,True,0.1,0.5,1,1,1.0,0.028665062635000592,0.0,0.1725719166766552,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p44-dog,1,0.02781276329714467,0.17896634573747305,True,0.1,0.5,1,1,1.0,0.02781276329714467,0.0,0.17896634573747305,0.0,2026-02-02 16:11:03
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+gigahand,schunk,bimanual,mjwp_act,p44-dog,3,0.030013659644879963,0.1771379656528959,True,0.1,0.5,1,1,1.0,0.030013659644879963,0.0,0.1771379656528959,0.0,2026-02-02 16:11:03
+gigahand,schunk,bimanual,mjwp_act,p44-dog,4,0.028083436774106928,0.183336543811492,True,0.1,0.5,1,1,1.0,0.028083436774106928,0.0,0.183336543811492,0.0,2026-02-02 16:11:03
diff --git a/processed/gigahand/xhand/bimanual/complete_data.csv b/processed/gigahand/xhand/bimanual/complete_data.csv
index f57c6df93b526e87700fedcfb22c531fc99a88ee..3cc2f8b069b3a236d5e411a06311b7ebd5d071d4 100644
--- a/processed/gigahand/xhand/bimanual/complete_data.csv
+++ b/processed/gigahand/xhand/bimanual/complete_data.csv
@@ -1,16 +1,16 @@
 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,xhand,bimanual,mjwp,p52-instrument,0,p52-instrument/0,0.022278211471316218,0.21071128910214476,0.022278211471316218,3.912024655032535e-07,0.21071128910214476,1.4766772438156438e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p52-instrument,1,p52-instrument/1,0.04681808204872262,0.3277838893018435,0.04681808204872262,3.9119134613783546e-07,0.3277838893018435,1.4300899252266411e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p52-instrument,2,p52-instrument/2,0.04681808204872262,0.3277838893018435,0.04681808204872262,3.9119134613783546e-07,0.3277838893018435,1.4300899252266411e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p52-instrument,3,p52-instrument/3,0.05664215690884483,0.3307310159743196,0.05664215690884483,3.911913336637618e-07,0.3307310159743196,1.4300892938524549e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p52-instrument,4,p52-instrument/4,0.05079647122236632,0.3300444163773647,0.05079647122236632,3.911913336637618e-07,0.3300444163773647,1.4300892938524549e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p36-tea,0,p36-tea/0,0.026746925197598005,0.32988638129317177,0.026746925197598005,1.9068924258179048e-06,0.32988638129317177,4.6451353897841844e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p36-tea,1,p36-tea/1,0.038677285513004984,0.3218616418259427,0.038677285513004984,1.9068924258179048e-06,0.3218616418259427,4.6451343943633204e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p36-tea,2,p36-tea/2,0.03559868072841431,0.3584526931016507,0.03559868072841431,1.9068924258179048e-06,0.3584526931016507,4.645133398942503e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p36-tea,3,p36-tea/3,0.035725417846366264,0.3167623225752605,0.035725417846366264,1.9068924258179048e-06,0.3167623225752605,4.645133730749437e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p36-tea,4,p36-tea/4,0.03216379291469397,0.36467626274784454,0.03216379291469397,1.9068924258179048e-06,0.36467626274784454,4.6451320665149645e-05,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p44-dog,0,p44-dog/0,0.01752232839482424,0.09888922616367801,0.01752232839482424,3.0177016004197745e-06,0.09888922616367801,8.49045944499634e-06,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p44-dog,1,p44-dog/1,0.019396742878993747,0.09406370873377773,0.019396742878993747,3.0177016004197745e-06,0.09406370873377773,8.49045944499634e-06,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p44-dog,2,p44-dog/2,0.02979655599511086,0.11220772118112503,0.02979655599511086,3.0177016004197745e-06,0.11220772118112503,8.490459366349607e-06,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p44-dog,3,p44-dog/3,0.02228071373003151,0.10855566677009594,0.02228071373003151,3.0177016004197745e-06,0.10855566677009594,8.49045944499634e-06,True,0.1,0.5
-gigahand,xhand,bimanual,mjwp,p44-dog,4,p44-dog/4,0.023879307688729017,0.10255920645691756,0.023879307688729017,3.0177016004197745e-06,0.10255920645691756,8.49045944499634e-06,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,3,p52-instrument/3,0.037378553575604545,0.10411549800436677,0.037378553575604545,0.0004382521711355008,0.10411549800436677,0.0011683349984683861,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,4,p52-instrument/4,0.026610849415890505,0.06824905263782906,0.026610849415890505,0.0004382521720035221,0.06824905263782906,0.0011683347866193376,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,1,p52-instrument/1,0.025275071790703818,0.07394125659224945,0.025275071790703818,0.00043825217146788777,0.07394125659224945,0.0011683345658857595,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,0,p52-instrument/0,0.03689764062131127,0.09141698443470836,0.03689764062131127,0.00043825217152680196,0.09141698443470836,0.0011683346740323304,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,2,p52-instrument/2,0.026158171168215963,0.0748902282266949,0.026158171168215963,0.0004382521714674994,0.0748902282266949,0.00116833482705495,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p36-tea,3,p36-tea/3,0.09526116103572513,0.47142376335794905,0.09526116103572513,1.5714060960975385e-05,0.47142376335794905,4.3031081630187244e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p36-tea,4,p36-tea/4,0.029611004308251972,0.30329193317174036,0.029611004308251972,1.5714057725578853e-05,0.30329193317174036,4.3031100450712434e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p36-tea,1,p36-tea/1,0.09129418861180598,0.4957336179721422,0.09129418861180598,1.5714059231471066e-05,0.4957336179721422,4.303108938977059e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p36-tea,0,p36-tea/0,0.03249000103477758,0.32641561325468205,0.03249000103477758,1.5714065942148625e-05,0.32641561325468205,4.30310903802269e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p36-tea,2,p36-tea/2,0.08476569730581042,0.43474288217202256,0.08476569730581042,1.5714055965991036e-05,0.43474288217202256,4.303108909407627e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p44-dog,3,p44-dog/3,0.035472950728816205,0.1861922217569412,0.035472950728816205,3.4103380306773895e-06,0.1861922217569412,6.194452076770492e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p44-dog,4,p44-dog/4,0.039651838799234625,0.20206459191910447,0.039651838799234625,3.3756627189593302e-06,0.20206459191910447,3.4803824654627224e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p44-dog,1,p44-dog/1,0.04428514608905914,0.21259265344489492,0.04428514608905914,3.375667413332507e-06,0.21259265344489492,3.480441966766444e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p44-dog,0,p44-dog/0,0.03665379697698083,0.18837145151750698,0.03665379697698083,3.3256669933827477e-06,0.18837145151750698,3.489420544331382e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwp_act,p44-dog,2,p44-dog/2,0.04926670072166569,0.22747897769375072,0.04926670072166569,4.282881500142846e-06,0.22747897769375072,0.00011792266962459011,True,0.1,0.5
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/0/config_act.yaml b/processed/gigahand/xhand/bimanual/p36-tea/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d2a7d15bc37dff3e3de2d4473f4cfd46fea035c
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: p36-tea
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 1.6
+knot_dt: 0.4
+max_sim_steps: 1352
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
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+- 28
+- 31
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
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+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
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+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
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+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 320
+knot_steps: 80
+ref_steps: 4
+ctrl_steps: 40
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 526
+beta_traj: 0.9630748444263257
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_ikrollout_act.npz b/processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a7e7bc2d38a3fd51f96eac6870edffad64dc57d
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56305fecb7eadbe089e557387c817129d339d7be8cad5d483aaa19a270ba69a
+size 130054
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diff --git a/processed/gigahand/xhand/bimanual/p36-tea/4/config_act.yaml b/processed/gigahand/xhand/bimanual/p36-tea/4/config_act.yaml
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+robot_type: xhand
+embodiment_type: bimanual
+task: p36-tea
+seed: 4
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 4
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p36-tea/0/trajectory_kinematic_act.npz
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+nconmax_per_env: 120
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+num_dyn: 1
+num_dr: 1
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+- 0.005
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+- -0.005
+- 0.005
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+contact_guidance: true
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+  - ring
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+  - pinky
+- - left
+  - thumb
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+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
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+                    <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="0.04 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>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06" />
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 0.004 -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>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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_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" />
+    <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" />
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+    <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" />
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+    <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" />
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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_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" />
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+    <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" />
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+    <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" />
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+    <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="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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/task_info.json b/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
index 0f8880624d06cbef83effb968452e43ba8bd4607..d4e0c11903c67fd462d3250c9d6678383e0b0cab 100644
--- a/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
@@ -7,5 +7,7 @@
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "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
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/xhand/bimanual/p44-dog/0/config_act.yaml b/processed/gigahand/xhand/bimanual/p44-dog/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c61eb5217285707fb1986bcbecfc17f857c9f449
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p44-dog/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: p44-dog
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p44-dog/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/xhand/bimanual/p44-dog/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.05
+knot_dt: 0.05
+max_sim_steps: 1308
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
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+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06" />
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 0.004 -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>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="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_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_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_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" />
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+    <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" />
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+    <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" />
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+    <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_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" 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" />
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+    <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" />
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+    <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" />
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+    <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" />
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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="right_object_4" name="collision_hand_left_middle_0_right_object_4" 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_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_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_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" />
+  </contact>
+  <actuator>
+    <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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/p44-dog/task_info.json b/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
index 6610aeac91b648a5efc1061b5ac58b4b8744b1cf..64ce91dd47e28d3586ce438155f31f151357bc04 100644
--- a/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
@@ -6,5 +6,8 @@
   "data_id": 4,
   "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
-}
\ No newline at end of file
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/0/config_act.yaml b/processed/gigahand/xhand/bimanual/p52-instrument/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0db465673c4da94195531e8a6ea381becd8ec7ce
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: p52-instrument
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p52-instrument/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.1
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.1
+knot_dt: 0.1
+max_sim_steps: 516
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 2.0
+init_pos_actuator_bias: 2.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 20
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 20
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 276
+beta_traj: 0.9630748444263257
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p52-instrument/0
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4d46e02658e9b1c42c9dc849014c62dbf5ff5e36
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fcfa16f4da31c7b456e2e48ef738046a9fde02e91fcf953a47e110e9349c70c
+size 49798
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_kinematic_act.npz b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba9b76eddf044bf20326d6c3340271fa5e08fd7f
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d7d372b8009d3cb4637c5dfd64b3bd5ebbba6343b806f4b030bed672e2ded3
+size 192044
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_mjwp_act.npz b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c26110df1bb03d9f90b57aae5ccc7d332fc34c72
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b012097566822ccc080f9887e0eea565802b4c9a5bd5c660701393af532c6e58
+size 679918
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_ik_act.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf3e72b5ae14177a4f13b62ed9ebba0fd33222dc
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b84e2b95168b06c553457e66161977ec4d0863d9a9c89953b76eaa543031c07
+size 96893
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_init.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..238040a16f661a5e0138ae3db4529c0315decee0
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddb2e7bfb1ceec54a027c3db63edc02dacf1d1cd7533d70e21c250db5e259d39
+size 42082
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_mjwp_act.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c55072f1ce96a8bbc4bfdf1b752b4fb4da8a3f14
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675ad1fb4aeafbf0713caa08014d581c68de93506cda376744c8bdc38db3e2d5
+size 494907
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/1/config_act.yaml b/processed/gigahand/xhand/bimanual/p52-instrument/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3f629e924e13a1e2c01a720c49d54ccf23341f9d
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: p52-instrument
+seed: 0
+dataset_dir: example_datasets
+dataset_name: gigahand
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p52-instrument/1/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/xhand/bimanual/p52-instrument/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.1
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.1
+knot_dt: 0.1
+max_sim_steps: 516
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 2.0
+init_pos_actuator_bias: 2.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.15
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.03
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
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+joint_noise_scale: 0.15
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
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+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
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+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
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+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 20
+knot_steps: 20
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+ctrl_steps: 20
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diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/scene_act.xml b/processed/gigahand/xhand/bimanual/p52-instrument/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..833cd88d2e89e17281fe29c32d556f0c068a8cfa
--- /dev/null
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <site group="3" rgba="1 0 0 1" />
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
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+    <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" />
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+    <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" />
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+    <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="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_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL" />
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL" />
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <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_visual" file="objects/p52-instrument/visual.obj" />
+    <mesh name="right_0" file="objects/p52-instrument/convex/0.obj" />
+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj" />
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj" />
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj" />
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj" />
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.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" />
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
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+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_link">
+                <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="0.04 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">
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+                  <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" />
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+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1" />
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+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
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+                      <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" />
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+                      <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="0.04 0 -0.012" />
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+                      <site name="trace_hand_right_thumb_tip" pos="0.04 0 -0.012" />
+                    </body>
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+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
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+                    <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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="10" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="10" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="10" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="10" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="10" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="10" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="10" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="10" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="10" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="10" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="10" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="10" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
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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="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_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_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_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" />
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+    <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_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_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <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" />
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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" />
+    <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_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_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_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_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" />
+    <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_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" />
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+    <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" />
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+    <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" />
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+    <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" />
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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" />
+    <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" />
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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_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_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_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_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_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_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_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" />
+  </contact>
+  <actuator>
+    <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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json b/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
index f6f9bde460dab60c0e8cf445206784e7866084a8..7ffca18a229f166c3187caedf77b5ebbc338cfa9 100644
--- a/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
@@ -7,5 +7,7 @@
   "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"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/summary.csv b/processed/gigahand/xhand/bimanual/summary.csv
index 17afd74132fa66f02c9cd49d723150fbe0170bfe..c9e16f46c82451b4731c60de7b9a347666ebe2f4 100644
--- a/processed/gigahand/xhand/bimanual/summary.csv
+++ b/processed/gigahand/xhand/bimanual/summary.csv
@@ -14,18 +14,18 @@ gigahand,xhand,bimanual,mjwp,p44-dog,4,0.023879307688729,0.1025592064569175,True
 gigahand,xhand,bimanual,mjwp,p44-dog,1,0.0193967428789937,0.0940637087337777,True,0.1,0.6,1,1,1.0,0.0193967428789937,0.0,0.0940637087337777,0.0,2026-01-27 18:15:00
 gigahand,xhand,bimanual,mjwp,p44-dog,0,0.0175223283948242,0.098889226163678,True,0.1,0.6,1,1,1.0,0.0175223283948242,0.0,0.098889226163678,0.0,2026-01-27 18:15:00
 gigahand,xhand,bimanual,mjwp,p44-dog,2,0.0297965559951108,0.112207721181125,True,0.1,0.6,1,1,1.0,0.0297965559951108,0.0,0.112207721181125,0.0,2026-01-27 18:15:00
-gigahand,xhand,bimanual,mjwp,p52-instrument,0,0.022278211471316218,0.21071128910214476,True,0.1,0.5,1,1,1.0,0.022278211471316218,0.0,0.21071128910214476,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p52-instrument,1,0.04681808204872262,0.3277838893018435,True,0.1,0.5,1,1,1.0,0.04681808204872262,0.0,0.3277838893018435,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p52-instrument,2,0.04681808204872262,0.3277838893018435,True,0.1,0.5,1,1,1.0,0.04681808204872262,0.0,0.3277838893018435,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p52-instrument,3,0.05664215690884483,0.3307310159743196,True,0.1,0.5,1,1,1.0,0.05664215690884483,0.0,0.3307310159743196,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p52-instrument,4,0.05079647122236632,0.3300444163773647,True,0.1,0.5,1,1,1.0,0.05079647122236632,0.0,0.3300444163773647,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p36-tea,0,0.026746925197598005,0.32988638129317177,True,0.1,0.5,1,1,1.0,0.026746925197598005,0.0,0.32988638129317177,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p36-tea,1,0.038677285513004984,0.3218616418259427,True,0.1,0.5,1,1,1.0,0.038677285513004984,0.0,0.3218616418259427,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p36-tea,2,0.03559868072841431,0.3584526931016507,True,0.1,0.5,1,1,1.0,0.03559868072841431,0.0,0.3584526931016507,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p36-tea,3,0.035725417846366264,0.3167623225752605,True,0.1,0.5,1,1,1.0,0.035725417846366264,0.0,0.3167623225752605,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p36-tea,4,0.03216379291469397,0.36467626274784454,True,0.1,0.5,1,1,1.0,0.03216379291469397,0.0,0.36467626274784454,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p44-dog,0,0.01752232839482424,0.09888922616367801,True,0.1,0.5,1,1,1.0,0.01752232839482424,0.0,0.09888922616367801,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p44-dog,1,0.019396742878993747,0.09406370873377773,True,0.1,0.5,1,1,1.0,0.019396742878993747,0.0,0.09406370873377773,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p44-dog,2,0.02979655599511086,0.11220772118112503,True,0.1,0.5,1,1,1.0,0.02979655599511086,0.0,0.11220772118112503,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p44-dog,3,0.02228071373003151,0.10855566677009594,True,0.1,0.5,1,1,1.0,0.02228071373003151,0.0,0.10855566677009594,0.0,2026-01-28 14:22:54
-gigahand,xhand,bimanual,mjwp,p44-dog,4,0.023879307688729017,0.10255920645691756,True,0.1,0.5,1,1,1.0,0.023879307688729017,0.0,0.10255920645691756,0.0,2026-01-28 14:22:54
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,3,0.037378553575604545,0.10411549800436677,True,0.1,0.5,1,1,1.0,0.037378553575604545,0.0,0.10411549800436677,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,4,0.026610849415890505,0.06824905263782906,True,0.1,0.5,1,1,1.0,0.026610849415890505,0.0,0.06824905263782906,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,1,0.025275071790703818,0.07394125659224945,True,0.1,0.5,1,1,1.0,0.025275071790703818,0.0,0.07394125659224945,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,0,0.03689764062131127,0.09141698443470836,True,0.1,0.5,1,1,1.0,0.03689764062131127,0.0,0.09141698443470836,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p52-instrument,2,0.026158171168215963,0.0748902282266949,True,0.1,0.5,1,1,1.0,0.026158171168215963,0.0,0.0748902282266949,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p36-tea,3,0.09526116103572513,0.47142376335794905,True,0.1,0.5,1,1,1.0,0.09526116103572513,0.0,0.47142376335794905,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p36-tea,4,0.029611004308251972,0.30329193317174036,True,0.1,0.5,1,1,1.0,0.029611004308251972,0.0,0.30329193317174036,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p36-tea,1,0.09129418861180598,0.4957336179721422,True,0.1,0.5,1,1,1.0,0.09129418861180598,0.0,0.4957336179721422,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p36-tea,0,0.03249000103477758,0.32641561325468205,True,0.1,0.5,1,1,1.0,0.03249000103477758,0.0,0.32641561325468205,0.0,2026-02-02 16:10:55
+gigahand,xhand,bimanual,mjwp_act,p36-tea,2,0.08476569730581042,0.43474288217202256,True,0.1,0.5,1,1,1.0,0.08476569730581042,0.0,0.43474288217202256,0.0,2026-02-02 16:10:55
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diff --git a/processed/oakink/ability/bimanual/complete_data.csv b/processed/oakink/ability/bimanual/complete_data.csv
index 82c60d125ba3b504a637a64bd6107a43e296fe15..20c670238148a752b72bd6f59c3af4befb65b2ce 100644
--- a/processed/oakink/ability/bimanual/complete_data.csv
+++ b/processed/oakink/ability/bimanual/complete_data.csv
@@ -1,36 +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
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+    <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" />
+  </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" />
+    <body name="L_forearm_ty_link">
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+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
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+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_base">
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+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh" />
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C" />
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+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
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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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+                </body>
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+                    <geom type="mesh" mesh="right_idx-F2_C" />
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+                    <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>
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+                    <geom type="mesh" mesh="right_idx-F2_C" />
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+                    <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" />
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+                    <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>
+                <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
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+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
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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_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">
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+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
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+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
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+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
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+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_16" name="collision_hand_right_pinky_1_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_16" name="collision_hand_right_pinky_0_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_11" name="collision_hand_left_palm_1_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_11" name="collision_hand_left_palm_2_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_12" name="collision_hand_left_palm_1_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_12" name="collision_hand_left_palm_2_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_13" name="collision_hand_left_palm_1_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_13" name="collision_hand_left_palm_2_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_14" name="collision_hand_left_palm_1_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_14" name="collision_hand_left_palm_2_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_15" name="collision_hand_left_palm_1_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_15" name="collision_hand_left_palm_2_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_16" name="collision_hand_left_palm_1_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_16" name="collision_hand_left_palm_2_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="2 2 0.2 0 0" />
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+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="2 2 0.2 0 0" />
+  </contact>
+  <actuator>
+    <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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/lift_board/task_info.json b/processed/oakink/ability/bimanual/lift_board/task_info.json
index 1d08d32e1519260fbac2824d52bec679171df56a..1ced5b93b784ddaa76f295751b9bf2e3fe1eba23 100644
--- a/processed/oakink/ability/bimanual/lift_board/task_info.json
+++ b/processed/oakink/ability/bimanual/lift_board/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config.yaml b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config.yaml
index c605f15e208ca055f238b24bd811574f783cdc6d..51127483954644a38adc6df6c54647587a96310e 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config.yaml
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config.yaml
@@ -5,16 +5,16 @@ 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
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
 simulator: mjwp
 device: cuda:0
 sim_dt: 0.01
-ctrl_dt: 0.4
+ctrl_dt: 0.2
 ref_dt: 0.02
 render_dt: 0.02
-horizon: 2.0
-knot_dt: 0.4
+horizon: 0.4
+knot_dt: 0.2
 max_sim_steps: 3480
 nconmax_per_env: 100
 njmax_per_env: 350
@@ -28,35 +28,82 @@ xy_offset_range:
 - 0.005
 perturb_force: 0.0
 perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
 num_samples: 1024
 temperature: 1.0
-max_num_iterations: 32
-improvement_threshold: 0.01
-improvement_check_steps: 2
+max_num_iterations: 8
+improvement_threshold: 0.0
+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
+first_ctrl_noise_scale: 1.0
 last_ctrl_noise_scale: 1.0
-final_noise_scale: 0.1
+final_noise_scale: 0.8
 exploit_ratio: 0.01
 exploit_noise_scale: 0.01
 joint_noise_scale: 0.03
-pos_noise_scale: 0.01
+pos_noise_scale: 0.0
 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
+pos_rew_scale: 0.3
+rot_rew_scale: 3.0
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
 show_viewer: true
-viewer: ''
+viewer: mujoco-rerun
 rerun_spawn: true
 save_video: true
 save_info: true
@@ -79,14 +126,14 @@ trace_site_ids:
 - 25
 - 28
 - 31
-horizon_steps: 200
-knot_steps: 40
+horizon_steps: 40
+knot_steps: 20
 ref_steps: 2
-ctrl_steps: 40
-nq_obj: 14
-nq: 46
+ctrl_steps: 20
+nq_obj: 12
+nq: 44
 nv: 44
-nu: 32
+nu: 44
 npair: 891
-beta_traj: 0.930572040929699
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config_act.yaml b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eb06a926080c01494184a0a970d5b14a12632d6f
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/0/config_act.yaml
@@ -0,0 +1,192 @@
+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/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+contact_order:
+- - right
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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_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"/>
+                    <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"/>
@@ -244,10 +244,10 @@
                     <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="0.065 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"/>
+                    <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">
@@ -266,7 +266,7 @@
                     <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"/>
+                    <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"/>
@@ -288,7 +288,7 @@
                     <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"/>
+                    <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"/>
@@ -310,7 +310,7 @@
                     <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"/>
+                    <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"/>
@@ -332,7 +332,7 @@
                     <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"/>
+                    <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"/>
@@ -360,10 +360,10 @@
       <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" 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_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_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">
@@ -410,11 +410,11 @@
       <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" 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"/>
+      <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_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"/>
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_act.xml b/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f1dee0cc1edd22d032befb4de63634a7192c546d
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_act.xml
@@ -0,0 +1,1396 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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 3" />
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000 3" />
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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="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_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj" />
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj" />
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj" />
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj" />
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj" />
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj" />
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj" />
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj" />
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj" />
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <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="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" />
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617" />
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh" />
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C" />
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref" />
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref" />
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1" />
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C" />
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.012 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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_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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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_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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0" />
+    <pair geom1="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_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" 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_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_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" />
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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="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" />
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+    <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_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" />
+    <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_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_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" />
+    <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_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" />
+    <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" />
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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_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" 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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
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 0c3e438b947d8ee1dda107ddac1431a2added56d..2e40922776cd261a9e06d635a427622f3d09c074 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/scene_eq.xml
@@ -7,10 +7,10 @@
     <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"/>
+      <general gainprm="1000" biasprm="0 -1000 3"/>
     </default>
     <default class="left_base">
-      <general gainprm="300" biasprm="0 -300 3"/>
+      <general gainprm="1000" biasprm="0 -1000 3"/>
     </default>
   </default>
 
@@ -108,10 +108,10 @@
                     <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="0.065 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"/>
+                    <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">
@@ -130,7 +130,7 @@
                     <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"/>
+                    <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"/>
@@ -152,7 +152,7 @@
                     <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"/>
+                    <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"/>
@@ -174,7 +174,7 @@
                     <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"/>
+                    <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"/>
@@ -196,7 +196,7 @@
                     <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"/>
+                    <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"/>
@@ -244,10 +244,10 @@
                     <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="0.065 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"/>
+                    <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">
@@ -266,7 +266,7 @@
                     <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"/>
+                    <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"/>
@@ -288,7 +288,7 @@
                     <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"/>
+                    <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"/>
@@ -310,7 +310,7 @@
                     <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"/>
+                    <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"/>
@@ -332,7 +332,7 @@
                     <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"/>
+                    <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"/>
@@ -360,10 +360,10 @@
       <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" 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_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_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">
@@ -410,11 +410,11 @@
       <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" 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"/>
+      <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_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"/>
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 941d2aff85daf07453470640004246ee8cf8b383..060dda51f207832c2c28e806de5f3b9f9f413080 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
@@ -5,8 +5,10 @@
   "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex",
   "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
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/config.yaml b/processed/oakink/ability/bimanual/pour_tube/0/config.yaml
index 998922027eff76bfb7e0f6a3a99948546a258879..270fed4c936b9e6a6c7a211560042bf7fafb312f 100644
--- a/processed/oakink/ability/bimanual/pour_tube/0/config.yaml
+++ b/processed/oakink/ability/bimanual/pour_tube/0/config.yaml
@@ -5,17 +5,17 @@ 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
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0/trajectory_kinematic_act.npz
 simulator: mjwp
 device: cuda:0
 sim_dt: 0.01
-ctrl_dt: 0.4
+ctrl_dt: 0.2
 ref_dt: 0.02
 render_dt: 0.02
-horizon: 2.0
-knot_dt: 0.4
-max_sim_steps: 1602
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 1402
 nconmax_per_env: 100
 njmax_per_env: 350
 num_dyn: 1
@@ -28,35 +28,82 @@ xy_offset_range:
 - 0.005
 perturb_force: 0.0
 perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 30.0
+init_pos_actuator_bias: 30.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.9
 num_samples: 1024
 temperature: 1.0
 max_num_iterations: 32
-improvement_threshold: 0.01
-improvement_check_steps: 2
+improvement_threshold: 0.0
+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
+first_ctrl_noise_scale: 1.0
 last_ctrl_noise_scale: 1.0
-final_noise_scale: 0.1
+final_noise_scale: 0.8
 exploit_ratio: 0.01
 exploit_noise_scale: 0.01
 joint_noise_scale: 0.03
-pos_noise_scale: 0.01
-rot_noise_scale: 0.01
+pos_noise_scale: 0.03
+rot_noise_scale: 0.03
 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
+rot_rew_scale: 3.0
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
 show_viewer: true
-viewer: ''
+viewer: mujoco-rerun
 rerun_spawn: true
 save_video: true
 save_info: true
@@ -79,14 +126,14 @@ trace_site_ids:
 - 25
 - 28
 - 31
-horizon_steps: 200
-knot_steps: 40
+horizon_steps: 40
+knot_steps: 20
 ref_steps: 2
-ctrl_steps: 40
-nq_obj: 14
-nq: 46
+ctrl_steps: 20
+nq_obj: 12
+nq: 44
 nv: 44
-nu: 32
-npair: 437
-beta_traj: 0.930572040929699
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0
+nu: 44
+npair: 724
+beta_traj: 0.9930510206163685
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/config_act.yaml b/processed/oakink/ability/bimanual/pour_tube/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b7855fa6db16aacda6f780c01125f8c33a5e459b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/0/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: ability
+embodiment_type: bimanual
+task: pour_tube
+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/pour_tube/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 1402
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+- 1
+- 2
+- 3
+- 4
+left_contact_indices:
+- 5
+- 6
+- 7
+- 8
+- 9
+right_pos_ctrl_ids:
+- 32
+- 33
+- 34
+left_pos_ctrl_ids:
+- 38
+- 39
+- 40
+contact_len: 10
+horizon_steps: 40
+knot_steps: 20
+ref_steps: 2
+ctrl_steps: 20
+nq_obj: 12
+nq: 44
+nv: 44
+nu: 44
+npair: 199
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/pour_tube/0
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/trajectory_ikrollout_act.npz b/processed/oakink/ability/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b96c723bcde56a728a38c893df4a0fa0e359bc2b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9d22716acc487275c541425dc37fb0e78ef3f64b124b7dc156980c63c7236c8
+size 247014
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/trajectory_kinematic_act.npz b/processed/oakink/ability/bimanual/pour_tube/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c53ce7ebc98999349fbf323a26368c29d1716f64
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a4fdc25a9f8e22280c309826efaa34156f4c3758bfdb03f836c9f6836711095
+size 1191692
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/trajectory_mjwp_act.npz b/processed/oakink/ability/bimanual/pour_tube/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5974d1aef8f587a0111a680bd5e689a190dd5c3c
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee84d1c9fbc2d9d8f79c6fa32ffb68999c3e5dffe7fc95355eef30f377e00455
+size 1565782
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/visualization_ik_act.mp4 b/processed/oakink/ability/bimanual/pour_tube/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..94d6abe391bc43ee3b9f93211c212b770ac2623a
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5040622b4d9f3a4cca308acada600074bc4620bc0a13c8f79d5e9e72f892f70
+size 427892
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/visualization_init.mp4 b/processed/oakink/ability/bimanual/pour_tube/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e140f35c821b71cd806a94eb6827dd99ae073689
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688b7f6096fb81131bceb532bf45967778458d7d800cad6ab3f4c75eb5f5eafa
+size 77169
diff --git a/processed/oakink/ability/bimanual/pour_tube/0/visualization_mjwp_act.mp4 b/processed/oakink/ability/bimanual/pour_tube/0/visualization_mjwp_act.mp4
new file mode 100644
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+                    <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"/>
@@ -321,7 +314,7 @@
                     <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"/>
+                    <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"/>
@@ -336,13 +329,6 @@
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_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" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -428,13 +414,6 @@
 
   <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="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"/>
@@ -462,27 +441,6 @@
     <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"/>
@@ -503,13 +461,6 @@
     <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_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"/>
@@ -518,13 +469,6 @@
     <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_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"/>
@@ -542,13 +486,6 @@
     <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_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"/>
@@ -557,13 +494,6 @@
     <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_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"/>
@@ -580,13 +510,6 @@
     <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_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"/>
@@ -595,13 +518,6 @@
     <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_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"/>
@@ -617,13 +533,6 @@
     <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_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"/>
@@ -632,13 +541,6 @@
     <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_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"/>
@@ -653,13 +555,6 @@
     <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_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"/>
@@ -669,46 +564,11 @@
     <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_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_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"/>
@@ -717,20 +577,6 @@
     <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_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -739,48 +585,6 @@
     <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"/>
@@ -791,79 +595,23 @@
     <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_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_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_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_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_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_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="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/ability/bimanual/pour_tube/scene_act.xml b/processed/oakink/ability/bimanual/pour_tube/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd626e3faff24c7b6108d05820e1c6b3d291605f
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/scene_act.xml
@@ -0,0 +1,668 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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 3" />
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000 3" />
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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="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_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj" />
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj" />
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj" />
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj" />
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj" />
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj" />
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj" />
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj" />
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj" />
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <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="objects/O02@0011@00003/convex/0.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>
+    <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="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617" />
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh" />
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C" />
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref" />
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref" />
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1" />
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C" />
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.012 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="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_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_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" 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" />
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+    <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="left_object_0" name="collision_hand_right_pinky_0_left_object_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="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_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="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_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="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_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="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_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="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" />
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_0" name="collision_hand_left_index_5_left_object_0" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_0" name="collision_hand_left_index_6_left_object_0" 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_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="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_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="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_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="left_object_0" name="collision_hand_left_middle_0_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="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_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="left_object_0" name="collision_hand_left_ring_0_left_object_0" 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="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_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="left_object_0" name="collision_hand_left_pinky_0_left_object_0" 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" />
+  </contact>
+  <actuator>
+    <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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml b/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
index e65cb6c8e328f74f0763faf9afc6c956104d5c7d..28086a5c6210bcaade113ea3f7f926fdaed0f9ee 100644
--- a/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
@@ -7,10 +7,10 @@
     <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"/>
+      <general gainprm="1000" biasprm="0 -1000 3"/>
     </default>
     <default class="left_base">
-      <general gainprm="300" biasprm="0 -300 3"/>
+      <general gainprm="1000" biasprm="0 -1000 3"/>
     </default>
   </default>
 
@@ -45,13 +45,6 @@
     <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@0011@00003/convex/0.obj"/>
-    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj"/>
-    <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj"/>
-    <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj"/>
-    <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj"/>
-    <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj"/>
-    <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
-    <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
     <mesh name="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"/>
@@ -97,10 +90,10 @@
                     <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="0.065 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"/>
+                    <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">
@@ -119,7 +112,7 @@
                     <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"/>
+                    <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"/>
@@ -141,7 +134,7 @@
                     <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"/>
+                    <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"/>
@@ -163,7 +156,7 @@
                     <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"/>
+                    <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"/>
@@ -185,7 +178,7 @@
                     <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"/>
+                    <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"/>
@@ -233,10 +226,10 @@
                     <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="0.065 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"/>
+                    <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">
@@ -255,7 +248,7 @@
                     <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"/>
+                    <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"/>
@@ -277,7 +270,7 @@
                     <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"/>
+                    <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"/>
@@ -299,7 +292,7 @@
                     <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"/>
+                    <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"/>
@@ -321,7 +314,7 @@
                     <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"/>
+                    <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"/>
@@ -336,13 +329,6 @@
     <body name="right_object">
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
-      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
-      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
       <geom name="right_object_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" size="0.01" group="4" rgba="0 1 0 1"/>
@@ -428,13 +414,6 @@
 
   <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="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"/>
@@ -462,27 +441,6 @@
     <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"/>
@@ -503,13 +461,6 @@
     <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_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"/>
@@ -518,13 +469,6 @@
     <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_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"/>
@@ -542,13 +486,6 @@
     <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_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"/>
@@ -557,13 +494,6 @@
     <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_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"/>
@@ -580,13 +510,6 @@
     <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_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"/>
@@ -595,13 +518,6 @@
     <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_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"/>
@@ -617,13 +533,6 @@
     <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_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"/>
@@ -632,13 +541,6 @@
     <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_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"/>
@@ -653,13 +555,6 @@
     <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_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"/>
@@ -669,46 +564,11 @@
     <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_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_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"/>
@@ -717,20 +577,6 @@
     <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_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
@@ -739,48 +585,6 @@
     <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"/>
@@ -791,79 +595,23 @@
     <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_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_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_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_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_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_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="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>
 
   <equality>
diff --git a/processed/oakink/ability/bimanual/pour_tube/task_info.json b/processed/oakink/ability/bimanual/pour_tube/task_info.json
index 9c675e53b464e998351ceb14926d1939da7471e8..d093d24761c24d488882f46c5b467467eeda6b0f 100644
--- a/processed/oakink/ability/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/ability/bimanual/pour_tube/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/config_act.yaml b/processed/oakink/ability/bimanual/stir_beaker/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9b457dde24199bf202c1f05f74df285efd581d0d
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+robot_type: ability
+embodiment_type: bimanual
+task: stir_beaker
+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/stir_beaker/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
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+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+- 0
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+- 8
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+- 32
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+left_pos_ctrl_ids:
+- 38
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+contact_len: 10
+horizon_steps: 40
+knot_steps: 20
+ref_steps: 2
+ctrl_steps: 20
+nq_obj: 12
+nq: 44
+nv: 44
+nu: 44
+npair: 807
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/stir_beaker/0
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+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj" />
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <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="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" />
+    <mesh name="left_3" file="objects/C11001/convex/3.obj" />
+    <mesh name="left_4" file="objects/C11001/convex/4.obj" />
+    <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>
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+    <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" />
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+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
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+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
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+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
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+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
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+                    <geom type="mesh" mesh="right_idx-F2_C" />
+                    <geom size="0.007" 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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+                  </body>
+                </body>
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+        </body>
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
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+      <body name="R_forearm_tz_link">
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+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
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+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
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+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
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+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
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+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
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+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
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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_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_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" 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_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" />
+    <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_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" />
+    <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_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" />
+    <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_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" 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_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_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_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" />
+    <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" />
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+    <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" />
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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_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" />
+    <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_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" />
+    <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_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" />
+    <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="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" />
+    <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_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" />
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+    <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" />
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+    <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_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" />
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+    <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" />
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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" />
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+    <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" 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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/stir_beaker/task_info.json b/processed/oakink/ability/bimanual/stir_beaker/task_info.json
index 5a74da8de880f1032b848026cf39b5c30c5ed33e..03ace30501dfe97e1d4b9e212fa5ffbc323a2bdc 100644
--- a/processed/oakink/ability/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/ability/bimanual/stir_beaker/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/ability/bimanual/summary.csv b/processed/oakink/ability/bimanual/summary.csv
index 9120a4750fd8a1aff3f9da311566d08cd1c583de..0e494a75f50c4363004d64a180612298f77b53b4 100644
--- a/processed/oakink/ability/bimanual/summary.csv
+++ b/processed/oakink/ability/bimanual/summary.csv
@@ -15,38 +15,38 @@ oakink,ability,bimanual,mjwp,pour_tube,0,0.081418694038247,2.0756482092139525,Fa
 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
-oakink,ability,bimanual,mjwp,uncap_alcohol_burner,2,0.03230748607818686,0.6988310394363892,False,0.1,0.5,1,0,0.0,0.03230748607818686,0.0,0.6988310394363892,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,uncap_alcohol_burner,3,0.031813033671051864,0.6445512086451691,False,0.1,0.5,1,0,0.0,0.031813033671051864,0.0,0.6445512086451691,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,uncap_alcohol_burner,4,0.0327724556413119,0.6581696897450259,False,0.1,0.5,1,0,0.0,0.0327724556413119,0.0,0.6581696897450259,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,stir_beaker,0,0.09535159668634678,0.7885548858168857,False,0.1,0.5,1,0,0.0,0.09535159668634678,0.0,0.7885548858168857,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,stir_beaker,1,0.09661254124657721,0.732456725167378,False,0.1,0.5,1,0,0.0,0.09661254124657721,0.0,0.732456725167378,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,stir_beaker,2,0.02825397730270578,0.5093386145477377,False,0.1,0.5,1,0,0.0,0.02825397730270578,0.0,0.5093386145477377,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,stir_beaker,3,0.11492599843430827,0.7593940748433222,False,0.1,0.5,1,0,0.0,0.11492599843430827,0.0,0.7593940748433222,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,stir_beaker,4,0.030673072786174267,0.5961428092591543,False,0.1,0.5,1,0,0.0,0.030673072786174267,0.0,0.5961428092591543,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,unplug,0,0.01474314393630857,0.2000412347512434,True,0.1,0.5,1,1,1.0,0.01474314393630857,0.0,0.2000412347512434,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,unplug,1,0.012530441080759614,0.2054702834076532,True,0.1,0.5,1,1,1.0,0.012530441080759614,0.0,0.2054702834076532,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,unplug,2,0.013021973478249032,0.22671700214437884,True,0.1,0.5,1,1,1.0,0.013021973478249032,0.0,0.22671700214437884,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,unplug,3,0.012791425980346341,0.22969745960061486,True,0.1,0.5,1,1,1.0,0.012791425980346341,0.0,0.22969745960061486,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,unplug,4,0.013816165463136224,0.23682332682491397,True,0.1,0.5,1,1,1.0,0.013816165463136224,0.0,0.23682332682491397,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pick_spoon_bowl,0,0.0566482564059641,1.3261370534619217,False,0.1,0.5,1,0,0.0,0.0566482564059641,0.0,1.3261370534619217,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pick_spoon_bowl,1,0.028189101889375966,0.8420216819454914,False,0.1,0.5,1,0,0.0,0.028189101889375966,0.0,0.8420216819454914,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pick_spoon_bowl,2,0.05794579012891129,1.3099566812446064,False,0.1,0.5,1,0,0.0,0.05794579012891129,0.0,1.3099566812446064,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pick_spoon_bowl,3,0.02468556353977244,0.9826222797323935,False,0.1,0.5,1,0,0.0,0.02468556353977244,0.0,0.9826222797323935,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pick_spoon_bowl,4,0.05720905795686958,1.3516131792068964,False,0.1,0.5,1,0,0.0,0.05720905795686958,0.0,1.3516131792068964,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,lift_board,0,0.05885488653867148,0.08511914079928609,True,0.1,0.5,1,1,1.0,0.05885488653867148,0.0,0.08511914079928609,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,lift_board,1,0.06100609959947249,0.06837203950017136,True,0.1,0.5,1,1,1.0,0.06100609959947249,0.0,0.06837203950017136,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,lift_board,2,0.06752104599362409,0.11631035934912151,True,0.1,0.5,1,1,1.0,0.06752104599362409,0.0,0.11631035934912151,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,lift_board,3,0.0382448879513669,0.1868746196984617,True,0.1,0.5,1,1,1.0,0.0382448879513669,0.0,0.1868746196984617,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,lift_board,4,0.057455485317898645,0.11650389469592089,True,0.1,0.5,1,1,1.0,0.057455485317898645,0.0,0.11650389469592089,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pour_tube,0,0.081418694038247,2.0756482092139525,False,0.1,0.5,1,0,0.0,0.081418694038247,0.0,2.0756482092139525,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pour_tube,1,0.07989938254944788,2.2957855709533503,False,0.1,0.5,1,0,0.0,0.07989938254944788,0.0,2.2957855709533503,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pour_tube,2,0.08263282259158804,2.392568113099024,False,0.1,0.5,1,0,0.0,0.08263282259158804,0.0,2.392568113099024,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pour_tube,3,0.08022811812286845,2.0712997905036823,False,0.1,0.5,1,0,0.0,0.08022811812286845,0.0,2.0712997905036823,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,pour_tube,4,0.07901835295921568,2.2231463969228082,False,0.1,0.5,1,0,0.0,0.07901835295921568,0.0,2.2231463969228082,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,wipe_board,0,0.036859458408809345,0.404489321490553,True,0.1,0.5,1,1,1.0,0.036859458408809345,0.0,0.404489321490553,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,wipe_board,1,0.032600416099772725,0.3928551719618398,True,0.1,0.5,1,1,1.0,0.032600416099772725,0.0,0.3928551719618398,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,wipe_board,2,0.03558380588879098,0.37144996668885366,True,0.1,0.5,1,1,1.0,0.03558380588879098,0.0,0.37144996668885366,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,wipe_board,3,0.03341112294080884,0.390223252174755,True,0.1,0.5,1,1,1.0,0.03341112294080884,0.0,0.390223252174755,0.0,2026-01-28 14:19:20
-oakink,ability,bimanual,mjwp,wipe_board,4,0.03350721402543762,0.3980939509274092,True,0.1,0.5,1,1,1.0,0.03350721402543762,0.0,0.3980939509274092,0.0,2026-01-28 14:19:20
+oakink,ability,bimanual,mjwp_act,uncap_alcohol_burner,3,0.0342058682099101,0.2058998792369232,True,0.1,0.5,1,1,1.0,0.0342058682099101,0.0,0.2058998792369232,0.0,2026-02-02 16:10:52
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diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/0/config_act.yaml b/processed/oakink/ability/bimanual/uncap_alcohol_burner/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..64209e349337ed60c081592e8a3bd63cd1c49e20
--- /dev/null
+++ b/processed/oakink/ability/bimanual/uncap_alcohol_burner/0/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: ability
+embodiment_type: bimanual
+task: uncap_alcohol_burner
+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/uncap_alcohol_burner/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz
+simulator: mjwp
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+num_dr: 1
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+- -0.005
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+- -0.005
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
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+- right_object_rot_y
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/uncap_alcohol_burner/0
diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz b/processed/oakink/ability/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz
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index 0000000000000000000000000000000000000000..4133575f1b56bae28b03906d8daf50d2640019c7
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+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1.5 1.5 0.15 0 0" />
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+    <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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1.5 1.5 0.15 0 0" />
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+    <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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+  </contact>
+  <actuator>
+    <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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_act_no_floor.xml b/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_act_no_floor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..734fbe59708466d8621f7c3d63590a6de30a2564
--- /dev/null
+++ b/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_act_no_floor.xml
@@ -0,0 +1,1135 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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 3" />
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000 3" />
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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="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_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj" />
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj" />
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj" />
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj" />
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj" />
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj" />
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj" />
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj" />
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj" />
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <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="objects/O02@0206@00001/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj" />
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.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>
+  <worldbody>
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+    <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" />
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+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
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+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
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+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
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+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
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+                    <site name="trace_hand_right_index_tip" pos="0.025 -0.022 0" />
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+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
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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_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" />
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+                    <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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
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+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
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+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <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="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" />
+    <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="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" />
+    <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_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="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_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" />
+    <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" />
+    <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="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_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" />
+    <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" />
+    <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" />
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+    <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="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" />
+    <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="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="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" />
+    <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_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="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="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_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" 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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
index 34d52d2cc4d27bdac94739a59161dfc0ea90b120..83330c8a49ee6b884d00a822ff730f1bf83cbade 100644
--- a/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/unplug/0/config_act.yaml b/processed/oakink/ability/bimanual/unplug/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4a1d651d1992666a9b1c9a411d2b8f0a3a04061f
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: ability
+embodiment_type: bimanual
+task: unplug
+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/unplug/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 564
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.01
+pos_noise_scale: 0.003
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 32
+- 33
+- 34
+left_pos_ctrl_ids:
+- 38
+- 39
+- 40
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 44
+nv: 44
+nu: 44
+npair: 199
+beta_traj: 0.9630748444263257
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0
diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout_act.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19aca53126604bfe55c092a68f8fecf321fbd39d
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 49894
diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic_act.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..26e20ddd10d2637d3cf70b2608bc396ffbb0da9b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwp_act.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwp_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..cb1c2ce843837001cf2fed8f9457c3f537db1fbf
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/visualization_init.mp4
@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..30ae969770b013f91cef53da2ce8e44efdb7254e
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/ability/bimanual/unplug/1/config_act.yaml b/processed/oakink/ability/bimanual/unplug/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f7bcc3600df69a0ae7086e83f780da966eb87a5a
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: ability
+embodiment_type: bimanual
+task: unplug
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
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+max_sim_steps: 564
+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
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+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
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+- 32
+- 33
+- 34
+- 38
+- 39
+- 40
+- 35
+- 36
+- 37
+- 41
+- 42
+- 43
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+- right_object_pos_x
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+num_trace_uniform_samples: 4
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+- 50
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+- 9
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+- 15
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+- - right
+  - thumb
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+  - middle
+- - right
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+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
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+- - left
+  - pinky
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+- 2
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+- 11
+- 14
+- 18
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+- 24
+- 27
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+- 0
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/unplug/1
diff --git a/processed/oakink/ability/bimanual/unplug/1/trajectory_kinematic_act.npz b/processed/oakink/ability/bimanual/unplug/1/trajectory_kinematic_act.npz
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index 0000000000000000000000000000000000000000..26e20ddd10d2637d3cf70b2608bc396ffbb0da9b
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/ability/bimanual/unplug/2/config_act.yaml b/processed/oakink/ability/bimanual/unplug/2/config_act.yaml
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index 0000000000000000000000000000000000000000..dba5b3d84a4080d492af53d95abbf23afe25ff7b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/2/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: ability
+embodiment_type: bimanual
+task: unplug
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/unplug/0/../scene_act.xml
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+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_collision_visual" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_visual" />
+      <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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="left_object_collision_visual" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_visual" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
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+    <pair geom1="floor" geom2="left_object_collision_visual" name="floor_left_object_collision_visual" 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_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_collision_visual" name="collision_hand_right_ring_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_collision_visual" name="collision_hand_right_ring_0_left_object_collision_visual" 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_collision_visual" name="collision_hand_right_pinky_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_collision_visual" name="collision_hand_right_pinky_1_left_object_collision_visual" 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" />
+    <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_collision_visual" name="collision_hand_right_pinky_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_collision_visual" name="collision_hand_right_pinky_0_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_palm_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_collision_visual" name="collision_hand_left_palm_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_collision_visual" name="collision_hand_left_palm_2_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_collision_visual" name="collision_hand_left_palm_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_collision_visual" name="collision_hand_left_palm_1_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_collision_visual" name="collision_hand_left_palm_2_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_collision_visual" name="collision_hand_left_thumb_2_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_collision_visual" name="collision_hand_left_thumb_3_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_collision_visual" name="collision_hand_left_thumb_2_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_collision_visual" name="collision_hand_left_thumb_3_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_thumb_1_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_collision_visual" name="collision_hand_left_thumb_0_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_collision_visual" name="collision_hand_left_thumb_1_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_collision_visual" name="collision_hand_left_thumb_0_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_collision_visual" name="collision_hand_left_index_2_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_collision_visual" name="collision_hand_left_index_3_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_collision_visual" name="collision_hand_left_index_4_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_collision_visual" name="collision_hand_left_index_5_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_collision_visual" name="collision_hand_left_index_6_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_collision_visual" name="collision_hand_left_index_1_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_collision_visual" name="collision_hand_left_index_2_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_collision_visual" name="collision_hand_left_index_3_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_collision_visual" name="collision_hand_left_index_4_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_collision_visual" name="collision_hand_left_index_5_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_collision_visual" name="collision_hand_left_index_6_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_collision_visual" name="collision_hand_left_index_1_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_index_0_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_collision_visual" name="collision_hand_left_index_0_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_collision_visual" name="collision_hand_left_middle_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_collision_visual" name="collision_hand_left_middle_1_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_middle_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_collision_visual" name="collision_hand_left_middle_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_collision_visual" name="collision_hand_left_ring_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_collision_visual" name="collision_hand_left_ring_1_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_ring_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_collision_visual" name="collision_hand_left_ring_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_collision_visual" name="collision_hand_left_pinky_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_collision_visual" name="collision_hand_left_pinky_1_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_collision_visual" name="collision_hand_left_pinky_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_collision_visual" name="collision_hand_left_pinky_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="right_object_collision_visual" geom2="left_object_collision_visual" name="right_object_collision_visual_left_object_collision_visual" friction="0.01 0.01 0.0001 0 0" />
+  </contact>
+  <actuator>
+    <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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/unplug/scene_act_no_floor.xml b/processed/oakink/ability/bimanual/unplug/scene_act_no_floor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5280e249368a6e2c6ca9067ebd20aae46e628717
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/scene_act_no_floor.xml
@@ -0,0 +1,664 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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 3" />
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000 3" />
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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" />
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+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_collision_visual" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_visual" />
+      <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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="left_object_collision_visual" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="left_visual" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <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" />
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+    <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_collision_visual" name="collision_hand_right_pinky_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_collision_visual" name="collision_hand_right_pinky_1_left_object_collision_visual" 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" />
+    <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_collision_visual" name="collision_hand_right_pinky_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_collision_visual" name="collision_hand_right_pinky_0_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_palm_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_collision_visual" name="collision_hand_left_palm_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_collision_visual" name="collision_hand_left_palm_2_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_collision_visual" name="collision_hand_left_palm_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_collision_visual" name="collision_hand_left_palm_1_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_collision_visual" name="collision_hand_left_palm_2_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_collision_visual" name="collision_hand_left_thumb_2_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_collision_visual" name="collision_hand_left_thumb_3_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_collision_visual" name="collision_hand_left_thumb_2_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_collision_visual" name="collision_hand_left_thumb_3_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_thumb_1_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_collision_visual" name="collision_hand_left_thumb_0_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_collision_visual" name="collision_hand_left_thumb_1_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_collision_visual" name="collision_hand_left_thumb_0_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_collision_visual" name="collision_hand_left_index_2_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_collision_visual" name="collision_hand_left_index_3_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_collision_visual" name="collision_hand_left_index_4_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_collision_visual" name="collision_hand_left_index_5_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_collision_visual" name="collision_hand_left_index_6_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_collision_visual" name="collision_hand_left_index_1_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_collision_visual" name="collision_hand_left_index_2_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_collision_visual" name="collision_hand_left_index_3_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_collision_visual" name="collision_hand_left_index_4_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_collision_visual" name="collision_hand_left_index_5_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_collision_visual" name="collision_hand_left_index_6_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_collision_visual" name="collision_hand_left_index_1_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_index_0_right_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_collision_visual" name="collision_hand_left_index_0_left_object_collision_visual" condim="4" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_collision_visual" name="collision_hand_left_middle_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_collision_visual" name="collision_hand_left_middle_1_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_middle_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_collision_visual" name="collision_hand_left_middle_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_collision_visual" name="collision_hand_left_ring_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_collision_visual" name="collision_hand_left_ring_1_left_object_collision_visual" 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_collision_visual" name="collision_hand_left_ring_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_collision_visual" name="collision_hand_left_ring_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_collision_visual" name="collision_hand_left_pinky_1_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_collision_visual" name="collision_hand_left_pinky_1_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_collision_visual" name="collision_hand_left_pinky_0_right_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_collision_visual" name="collision_hand_left_pinky_0_left_object_collision_visual" friction="1 1 0.1 0 0" />
+    <pair geom1="right_object_collision_visual" geom2="left_object_collision_visual" name="right_object_collision_visual_left_object_collision_visual" friction="0.01 0.01 0.0001 0 0" />
+  </contact>
+  <actuator>
+    <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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/unplug/task_info.json b/processed/oakink/ability/bimanual/unplug/task_info.json
index 7e6e56d61167fc803527636b0e185bec6a018392..7e21d5dbe6fc0706267739aac6e1c99872b464df 100644
--- a/processed/oakink/ability/bimanual/unplug/task_info.json
+++ b/processed/oakink/ability/bimanual/unplug/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/config_act.yaml b/processed/oakink/ability/bimanual/wipe_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4758f71f01fcd763e4257c109522b9cae944dfcb
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: ability
+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/ability/bimanual/wipe_board/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 662
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 32
+- 33
+- 34
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+++ b/processed/oakink/ability/bimanual/wipe_board/scene_act.xml
@@ -0,0 +1,1737 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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 3" />
+    </default>
+    <default class="left_base">
+      <general gainprm="1000" biasprm="0 -1000 3" />
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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="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_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj" />
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj" />
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj" />
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj" />
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj" />
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj" />
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj" />
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj" />
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj" />
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj" />
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj" />
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj" />
+    <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="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>
+    <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="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617" />
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh" />
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C" />
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref" />
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+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
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+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1" />
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C" />
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+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1" />
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+                    <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" />
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+                </body>
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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_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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C" />
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" />
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1" />
+                    <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="0.01 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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="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_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0" />
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" 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_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" 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_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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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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_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" />
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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_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_18" name="right_object_3_left_object_18" 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" />
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+    <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" 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" />
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1" />
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1" />
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1" />
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1" />
+    <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" 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" />
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1" />
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1" />
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1" />
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1" />
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1" />
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1" />
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/wipe_board/task_info.json b/processed/oakink/ability/bimanual/wipe_board/task_info.json
index 06786ce920227ff2524809ee98e3edf00585689d..6eb7037a4ec7d730932032b03a2087cc15800d74 100644
--- a/processed/oakink/ability/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/ability/bimanual/wipe_board/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/allegro/bimanual/complete_data.csv b/processed/oakink/allegro/bimanual/complete_data.csv
index 988b03c1d2be071129d542ad7955706d93ec0b11..c49b41b03aa540ee4e19c347d2f2fc5fd812abf3 100644
--- a/processed/oakink/allegro/bimanual/complete_data.csv
+++ b/processed/oakink/allegro/bimanual/complete_data.csv
@@ -1,36 +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,allegro,bimanual,mjwp,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.01883043515818664,0.3945672754785364,0.01883043515818664,0.0037020162970835295,0.3945672754785364,0.053707374428095644,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,1,uncap_alcohol_burner/1,0.0198150504894266,0.43780852975801615,0.0198150504894266,0.003973446842536676,0.43780852975801615,0.1127877281036645,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,2,uncap_alcohol_burner/2,0.018866955702324547,0.4361891830226079,0.018866955702324547,0.004112274104136253,0.4361891830226079,0.08111211247271903,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,3,uncap_alcohol_burner/3,0.018476035003397798,0.4286684465854475,0.018476035003397798,0.005487168718271952,0.4286684465854475,0.07078234231391818,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,4,uncap_alcohol_burner/4,0.015348284665393438,0.4334203783491454,0.015348284665393438,0.004967178277350065,0.4334203783491454,0.05820471667307773,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,stir_beaker,0,stir_beaker/0,0.09367702847793967,0.7248353839517492,0.16652815395665105,0.020825902999228284,1.2439354199920345,0.2057353479114638,False,0.1,0.5
-oakink,allegro,bimanual,mjwp,stir_beaker,1,stir_beaker/1,0.08921590148318802,0.9039982716736258,0.16955488484606962,0.008876918120306426,1.725109220078159,0.08288732326909255,False,0.1,0.5
-oakink,allegro,bimanual,mjwp,stir_beaker,2,stir_beaker/2,0.0903825255935845,1.3175994976033838,0.1735208727441622,0.007244178443006827,2.5451277712291676,0.09007122397759998,False,0.1,0.5
-oakink,allegro,bimanual,mjwp,stir_beaker,3,stir_beaker/3,0.08782192437132938,0.8665573349335061,0.16412170005194107,0.011522148690717694,1.610261471079776,0.12285319878723601,False,0.1,0.5
-oakink,allegro,bimanual,mjwp,stir_beaker,4,stir_beaker/4,0.09243608494369035,0.8229580396727932,0.14845861119932457,0.03641355868805614,1.4882435443099902,0.15767253503559628,False,0.1,0.5
-oakink,allegro,bimanual,mjwp,unplug,0,unplug/0,0.04418982854351445,0.39029723585549886,0.08019429464776842,0.008185362439260473,0.6907984806109816,0.08979599110001617,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,unplug,1,unplug/1,0.03729246932241416,0.3650358689795932,0.06824031192512259,0.006344626719705734,0.6170233885604989,0.11304834939868762,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,unplug,2,unplug/2,0.03805048802277666,0.47638168547394827,0.06866246798275555,0.007438508062797783,0.8342960037279842,0.1184673672199124,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,unplug,3,unplug/3,0.010355485810636339,0.2609523290235618,0.013664440090827087,0.00704653153044559,0.41314481025894556,0.10875984778817804,True,0.1,0.5
-oakink,allegro,bimanual,mjwp,unplug,4,unplug/4,0.08009182672664543,0.45820986221239074,0.1313928097826976,0.02879084367059325,0.5581295868208198,0.35829013760396167,True,0.1,0.5
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diff --git a/processed/oakink/allegro/bimanual/lift_board/0/config_act.yaml b/processed/oakink/allegro/bimanual/lift_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d6e026d2f8e85e0106dedd16bdc0c49a4eb16c1e
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/lift_board/0/config_act.yaml
@@ -0,0 +1,184 @@
+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_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 944
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
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+- 53
+- 54
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+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
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+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
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+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
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+base_pos_rew_scale: 0.3
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+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
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+contact_order:
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+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+left_pos_ctrl_ids:
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+contact_len: 10
+horizon_steps: 80
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+ctrl_steps: 10
+nq_obj: 12
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+beta_traj: 0.9630748444263257
+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_act.npz b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout_act.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_ikrollout_act.npz
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic_act.npz
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--- /dev/null
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diff --git a/processed/oakink/allegro/bimanual/lift_board/0/trajectory_mjwp_act.npz b/processed/oakink/allegro/bimanual/lift_board/0/trajectory_mjwp_act.npz
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diff --git a/processed/oakink/allegro/bimanual/lift_board/4/config_act.yaml b/processed/oakink/allegro/bimanual/lift_board/4/config_act.yaml
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+robot_type: allegro
+embodiment_type: bimanual
+task: lift_board
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/lift_board/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/lift_board/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
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+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 944
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- 50
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+- right_object_pos_x
+- right_object_pos_y
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
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+num_samples: 1024
+temperature: 1.0
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+  - middle
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+  - pinky
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+  - thumb
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/lift_board/4
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable" />
+  </option>
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+    <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_visual" file="objects/O02@0018@00001/visual.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" />
+  </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" />
+    <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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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_16" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_16" />
+      <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="0.0475256 0.0992082 -0.141567" size="0.01" group="4" rgba="0 1 0 1" />
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+      <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_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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
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+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/lift_board/task_info.json b/processed/oakink/allegro/bimanual/lift_board/task_info.json
index 583158ff367066a9e448d7aff93bd7074d35e12e..4a545d88c7d3fbf098e7ec9b7b33bf0ddd19d4e7 100644
--- a/processed/oakink/allegro/bimanual/lift_board/task_info.json
+++ b/processed/oakink/allegro/bimanual/lift_board/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/config_act.yaml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..609a5b140ac46dea7384b7554872a3ef91fb0038
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/config_act.yaml
@@ -0,0 +1,190 @@
+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/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
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+- 48
+- 49
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+- 54
+- 55
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+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
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+temperature: 1.0
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+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
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+- 27
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
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+- - right
+  - index
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+  - middle
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+  - ring
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+  - pinky
+- - left
+  - thumb
+- - left
+  - index
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+  - ring
+- - left
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+- 45
+- 46
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_ikrollout_act.npz b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..898eb5fd811c542a05092f32de122a57c2a872cc
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
+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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--- /dev/null
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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/1/config_act.yaml b/processed/oakink/allegro/bimanual/pick_spoon_bowl/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d0933738c7c2d3dd2d7155a1d7aa3a14ee6d39ab
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/1/config_act.yaml
@@ -0,0 +1,190 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
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+- 0.005
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+- right_object_pos_y
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+- left_object_pos_y
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+object_rot_actuator_names:
+- right_object_rot_x
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+- left_object_rot_y
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@@ -0,0 +1,190 @@
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+      </default>
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+        <joint range="-0.47 0.47" />
+        <general ctrlrange="-0.47 0.47" />
+      </default>
+      <default class="right_proximal">
+        <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" />
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618" />
+        <general ctrlrange="0.227 1.618" />
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396" />
+        <general ctrlrange="0.263 1.396" />
+      </default>
+      <default class="right_thumb_proximal">
+        <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" />
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+    <default class="mimic_left">
+      <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" />
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black" />
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link" />
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0" />
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0" />
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0" />
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0" />
+        </default>
+        <default class="left_fingertip_visual">
+          <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" />
+        </default>
+      </default>
+      <default class="left_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" />
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082" />
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" />
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" />
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" />
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" />
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" />
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008" />
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" />
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule" />
+          <default class="left_thumbtip_collision">
+            <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" gainprm="1000" biasprm="0 -1000" />
+      </default>
+      <default class="left_base_hinge">
+        <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" />
+      </default>
+      <default class="left_proximal">
+        <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" />
+      </default>
+      <default class="left_distal">
+        <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" />
+      </default>
+      <default class="left_thumb_proximal">
+        <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" />
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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" />
+    <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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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 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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
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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" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
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 70d5cf27cffa6e1830af738b5fde04f668c36cbf..258e9d64b58d1115a491729cf9e2690ced2baded 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
@@ -5,8 +5,10 @@
   "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex",
   "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
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/config_act.yaml b/processed/oakink/allegro/bimanual/pour_tube/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..acac6f6dfc545b5f2af99eb43cf58d4928adf2b4
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+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/allegro/bimanual/pour_tube/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 3044
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
+- 51
+- 52
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 861
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pour_tube/0
diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_ikrollout_act.npz b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b9157685d3d39b1b0e22a0bb1fb21256f1e4b1a
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda55bf2afe86307a88c5ca1f12c8679faa5f4d53ba10e84f0182e95280ad1cc
+size 341190
diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1287942334f54f452fcff060b04e4362aa90a26b
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_mjwp_act.npz b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_mjwp_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/visualization_ik_act.mp4 b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0fa7f448d1a3ef6346a79ca661dc9b63cb82172f
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f948df99c91a588c0230a5bf8b7d55d16ecb07547074578b724c5edea2f40d4f
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diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/visualization_init.mp4 b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11f307b36a543c52e831ec967abb15cd78e0f0cd
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff2ef5b6aec08ed9fcd0ed601c8323584ab24ab76130859703029ffd7af3c355
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diff --git a/processed/oakink/allegro/bimanual/pour_tube/0/visualization_mjwp_act.mp4 b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_mjwp_act.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/pour_tube/1/config_act.yaml b/processed/oakink/allegro/bimanual/pour_tube/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..43e8a56040a655989d45a67107b45f500b40c991
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/1/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: pour_tube
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/pour_tube/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.2
+knot_dt: 0.2
+max_sim_steps: 3044
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+improvement_check_steps: 1
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
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+use_torch_compile: true
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+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
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+- 41
+- 3
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+- 22
+- 25
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+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
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+- 0
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+- 44
+- 45
+- 46
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+- 51
+- 52
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+ctrl_steps: 10
+nq_obj: 12
+nq: 56
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+nu: 56
+npair: 861
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/allegro/bimanual/pour_tube/4
diff --git a/processed/oakink/allegro/bimanual/pour_tube/4/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/pour_tube/4/trajectory_kinematic_act.npz
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--- /dev/null
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--- /dev/null
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diff --git a/processed/oakink/allegro/bimanual/pour_tube/scene.xml b/processed/oakink/allegro/bimanual/pour_tube/scene.xml
index fac27223614406cf32aab6f35d5eca2d39fc5ca0..b6ad4f436b18fd7ea62bc7d0a01f4da0d011f676 100644
--- a/processed/oakink/allegro/bimanual/pour_tube/scene.xml
+++ b/processed/oakink/allegro/bimanual/pour_tube/scene.xml
@@ -268,13 +268,28 @@
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <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="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
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     <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
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+    <mesh name="left_3" file="objects/O02@0202@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0202@00002/convex/4.obj"/>
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     <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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@@ -512,12 +527,20 @@
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       <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
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       <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
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       <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
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@@ -553,6 +576,13 @@
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       <geom name="left_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="left_0"/>
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-    <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"/>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_10" name="collision_hand_right_middle_2_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_11" name="collision_hand_right_middle_2_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_9" name="collision_hand_right_middle_2_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="2 2 0.2 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="2 2 0.2 0 0"/>
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+    <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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
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+    <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="2 2 0.2 0 0"/>
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+    <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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_10" name="collision_hand_right_ring_2_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_11" name="collision_hand_right_ring_2_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_9" name="collision_hand_right_ring_2_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
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+    <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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_0" name="right_object_11_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/allegro/bimanual/pour_tube/scene_act.xml b/processed/oakink/allegro/bimanual/pour_tube/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..97f667ec303003de727e111f6759cc3134393450
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/pour_tube/scene_act.xml
@@ -0,0 +1,1545 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
+    <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" />
+  </visual>
+  <default>
+    <default class="mimic_right">
+      <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" />
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link" />
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0" />
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0" />
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0" />
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0" />
+        </default>
+        <default class="right_fingertip_visual">
+          <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" />
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" />
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082" />
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" />
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" />
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" />
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" />
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" />
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008" />
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" />
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule" />
+          <default class="right_thumbtip_collision">
+            <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" gainprm="1000" biasprm="0 -1000" />
+      </default>
+      <default class="right_base_hinge">
+        <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" />
+      </default>
+      <default class="right_proximal">
+        <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" />
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618" />
+        <general ctrlrange="0.227 1.618" />
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396" />
+        <general ctrlrange="0.263 1.396" />
+      </default>
+      <default class="right_thumb_proximal">
+        <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" />
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+    <default class="mimic_left">
+      <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" />
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black" />
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link" />
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0" />
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0" />
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0" />
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0" />
+        </default>
+        <default class="left_fingertip_visual">
+          <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" />
+        </default>
+      </default>
+      <default class="left_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" />
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082" />
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" />
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" />
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" />
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" />
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" />
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008" />
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" />
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule" />
+          <default class="left_thumbtip_collision">
+            <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" gainprm="1000" biasprm="0 -1000" />
+      </default>
+      <default class="left_base_hinge">
+        <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" />
+      </default>
+      <default class="left_proximal">
+        <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" />
+      </default>
+      <default class="left_distal">
+        <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" />
+      </default>
+      <default class="left_thumb_proximal">
+        <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" />
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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_visual" file="objects/O02@0011@00003/visual.obj" />
+    <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj" />
+    <mesh name="right_0" file="objects/O02@0011@00003/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj" />
+    <mesh name="right_10" file="objects/O02@0011@00003/convex/10.obj" />
+    <mesh name="right_11" file="objects/O02@0011@00003/convex/11.obj" />
+    <mesh name="right_12" file="objects/O02@0011@00003/convex/12.obj" />
+    <mesh name="right_13" file="objects/O02@0011@00003/convex/13.obj" />
+    <mesh name="right_14" file="objects/O02@0011@00003/convex/14.obj" />
+    <mesh name="right_15" file="objects/O02@0011@00003/convex/15.obj" />
+    <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj" />
+    <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj" />
+    <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj" />
+    <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj" />
+    <mesh name="right_8" file="objects/O02@0011@00003/convex/8.obj" />
+    <mesh name="right_9" file="objects/O02@0011@00003/convex/9.obj" />
+    <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj" />
+    <mesh name="left_1" file="objects/O02@0202@00002/convex/1.obj" />
+    <mesh name="left_2" file="objects/O02@0202@00002/convex/2.obj" />
+    <mesh name="left_3" file="objects/O02@0202@00002/convex/3.obj" />
+    <mesh name="left_4" file="objects/O02@0202@00002/convex/4.obj" />
+    <mesh name="left_5" file="objects/O02@0202@00002/convex/5.obj" />
+    <mesh name="left_6" file="objects/O02@0202@00002/convex/6.obj" />
+    <mesh name="left_7" file="objects/O02@0202@00002/convex/7.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" />
+    <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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+      <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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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="-0.00669959 -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">
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="2 2 0.2 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0" />
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_0" name="right_object_11_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.02 0.02 0.0002 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.02 0.02 0.0002 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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml b/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml
index e7b7b3c3a89c3997713b441f574c31ff4fd31610..4462e05588fa3cda3fe3d6424b5a52909cf26508 100644
--- a/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/pour_tube/scene_eq.xml
@@ -268,13 +268,28 @@
     <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
     <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_10" file="objects/O02@0011@00003/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0011@00003/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0011@00003/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0011@00003/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0011@00003/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0011@00003/convex/15.obj"/>
     <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0011@00003/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0011@00003/convex/9.obj"/>
     <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0202@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0202@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0202@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0202@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0202@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0202@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0202@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
   </asset>
@@ -512,12 +527,20 @@
       <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_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"/>
@@ -553,6 +576,13 @@
     <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" 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"/>
@@ -588,342 +618,867 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="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"/>
-    <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_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"/>
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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="floor" geom2="right_object_0" name="floor_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_10" name="collision_hand_right_middle_2_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_11" name="collision_hand_right_middle_2_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_12" name="collision_hand_right_middle_2_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_13" name="collision_hand_right_middle_2_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_14" name="collision_hand_right_middle_2_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_15" name="collision_hand_right_middle_2_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_9" name="collision_hand_right_middle_2_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_10" name="collision_hand_right_ring_2_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_11" name="collision_hand_right_ring_2_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_12" name="collision_hand_right_ring_2_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_13" name="collision_hand_right_ring_2_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_14" name="collision_hand_right_ring_2_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_15" name="collision_hand_right_ring_2_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_9" name="collision_hand_right_ring_2_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_10" name="collision_hand_left_ring_2_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_11" name="collision_hand_left_ring_2_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_12" name="collision_hand_left_ring_2_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_13" name="collision_hand_left_ring_2_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_14" name="collision_hand_left_ring_2_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_15" name="collision_hand_left_ring_2_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_8" name="collision_hand_left_ring_2_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_9" name="collision_hand_left_ring_2_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_10" name="collision_hand_left_middle_2_right_object_10" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_11" name="collision_hand_left_middle_2_right_object_11" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_12" name="collision_hand_left_middle_2_right_object_12" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_13" name="collision_hand_left_middle_2_right_object_13" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_14" name="collision_hand_left_middle_2_right_object_14" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_15" name="collision_hand_left_middle_2_right_object_15" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="2 2 0.2 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="2 2 0.2 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 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="2 2 0.2 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_0" name="right_object_11_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
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+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.02 0.02 0.0002 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.02 0.02 0.0002 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/allegro/bimanual/pour_tube/task_info.json b/processed/oakink/allegro/bimanual/pour_tube/task_info.json
index cfec3048a4111e453b39c66c3d576d2defef36b8..c49559dcf542bd6ed2c7f81108044fd516724d88 100644
--- a/processed/oakink/allegro/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/allegro/bimanual/pour_tube/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/0/config_act.yaml b/processed/oakink/allegro/bimanual/stir_beaker/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f1aa7d562a4352236c30395ae37d8600ff1afc35
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/0/config_act.yaml
@@ -0,0 +1,190 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: stir_beaker
+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/stir_beaker/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 1114
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
+right_contact_indices:
+- 0
+- 1
+- 2
+- 3
+- 4
+left_contact_indices:
+- 5
+- 6
+- 7
+- 8
+- 9
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
+- 51
+- 52
+contact_len: 10
+horizon_steps: 40
+knot_steps: 20
+ref_steps: 2
+ctrl_steps: 20
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 652
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/0
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz b/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..944d9a140244840851d2ac10bf792c25c8bcce04
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3e8a4100d993a835e3658f87c7f99e69a414387b5b078e8dfa728ed53ec18c
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diff --git a/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8d29183a7c4767f1c5ccec2f62bef20ed41b4ae7
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_kinematic_act.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/0/trajectory_mjwp_act.npz b/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..adf018a609d809f8ed3478d172f6e781d180cade
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_mjwp_act.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/0/visualization_ik_act.mp4 b/processed/oakink/allegro/bimanual/stir_beaker/0/visualization_ik_act.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/0/visualization_ik_act.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/0/visualization_init.mp4 b/processed/oakink/allegro/bimanual/stir_beaker/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..121b4d49932a23f4de2e97b267d2c124531f46d1
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/0/visualization_init.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/0/visualization_mjwp_act.mp4 b/processed/oakink/allegro/bimanual/stir_beaker/0/visualization_mjwp_act.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2252609
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/1/config_act.yaml b/processed/oakink/allegro/bimanual/stir_beaker/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..daa105486b872f5376c677124c2eab3bd76fc5d4
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/1/config_act.yaml
@@ -0,0 +1,190 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: stir_beaker
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
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+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 1114
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
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+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
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+base_rot_rew_scale: 0.3
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+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1.5 1.5 0.15 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1.5 1.5 0.15 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
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+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/scene_act.xml b/processed/oakink/allegro/bimanual/stir_beaker/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..689b710c66f93c267170be6831b6f563246340fa
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/stir_beaker/scene_act.xml
@@ -0,0 +1,1324 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
+    <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" />
+  </visual>
+  <default>
+    <default class="mimic_right">
+      <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" />
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link" />
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0" />
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0" />
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0" />
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0" />
+        </default>
+        <default class="right_fingertip_visual">
+          <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" />
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" />
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082" />
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" />
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" />
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" />
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" />
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" />
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008" />
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" />
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule" />
+          <default class="right_thumbtip_collision">
+            <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" gainprm="1000" biasprm="0 -1000" />
+      </default>
+      <default class="right_base_hinge">
+        <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" />
+      </default>
+      <default class="right_proximal">
+        <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" />
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618" />
+        <general ctrlrange="0.227 1.618" />
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396" />
+        <general ctrlrange="0.263 1.396" />
+      </default>
+      <default class="right_thumb_proximal">
+        <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" />
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+    <default class="mimic_left">
+      <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" />
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black" />
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link" />
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0" />
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0" />
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0" />
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0" />
+        </default>
+        <default class="left_fingertip_visual">
+          <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" />
+        </default>
+      </default>
+      <default class="left_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" />
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082" />
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" />
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" />
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" />
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" />
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" />
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008" />
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" />
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule" />
+          <default class="left_thumbtip_collision">
+            <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" gainprm="1000" biasprm="0 -1000" />
+      </default>
+      <default class="left_base_hinge">
+        <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" />
+      </default>
+      <default class="left_proximal">
+        <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" />
+      </default>
+      <default class="left_distal">
+        <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" />
+      </default>
+      <default class="left_thumb_proximal">
+        <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" />
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" 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@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" />
+    <mesh name="left_3" file="objects/C11001/convex/3.obj" />
+    <mesh name="left_4" file="objects/C11001/convex/4.obj" />
+    <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>
+  <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" />
+    <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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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="-0.00540756 -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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" />
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+      <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" />
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+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
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+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
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+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.015 0.015 0.00015 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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml
index 29c3c74409a2a16c7ac7956ef41c304f8d7e2699..9f12b32cf10861b200209497455ce86f1efa4bd5 100644
--- a/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml
+++ b/processed/oakink/allegro/bimanual/stir_beaker/scene_eq.xml
@@ -606,658 +606,658 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
-    <pair geom1="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"/>
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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"/>
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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_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
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-    <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_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"/>
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-    <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"/>
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-    <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"/>
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-    <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="floor" geom2="right_object_0" name="floor_right_object_0" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1.5 1.5 0.15 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_8" name="right_object_0_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_8" name="right_object_1_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_8" name="right_object_2_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_8" name="right_object_3_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_8" name="right_object_4_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_8" name="right_object_5_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.015 0.015 0.00015 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_8" name="right_object_8_left_object_8" friction="0.015 0.015 0.00015 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/task_info.json b/processed/oakink/allegro/bimanual/stir_beaker/task_info.json
index 79df8879c25f11dca07fdb1d2b233add4670af70..6340d2ebcadfe94270a27cef38849d2d49dccc14 100644
--- a/processed/oakink/allegro/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/allegro/bimanual/stir_beaker/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/allegro/bimanual/summary.csv b/processed/oakink/allegro/bimanual/summary.csv
index f88ea70e317eeb33e6b86d080ce3d08f53a3333d..77dc5b9e8394b29ea47134cc7374447f22a5c671 100644
--- a/processed/oakink/allegro/bimanual/summary.csv
+++ b/processed/oakink/allegro/bimanual/summary.csv
@@ -13,38 +13,38 @@ oakink,allegro,bimanual,mjwp,pour_tube,0,0.0439827488887944,0.7248969229289636,F
 oakink,allegro,bimanual,mjwp,pour_tube,1,0.10484571063438,1.998327245068653,False,0.1,0.6,1,0,0.0,0.10484571063438,0.0,1.998327245068653,0.0,2026-01-27 20:13:35
 oakink,allegro,bimanual,mjwp,wipe_board,0,0.0205281358609019,0.5174576625251381,True,0.1,0.6,1,1,1.0,0.0205281358609019,0.0,0.5174576625251381,0.0,2026-01-27 20:13:35
 oakink,allegro,bimanual,mjwp,wipe_board,1,0.0205281358609019,0.5174576625251381,True,0.1,0.6,1,1,1.0,0.0205281358609019,0.0,0.5174576625251381,0.0,2026-01-27 20:13:35
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,0,0.01883043515818664,0.3945672754785364,True,0.1,0.5,1,1,1.0,0.01883043515818664,0.0,0.3945672754785364,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,1,0.0198150504894266,0.43780852975801615,True,0.1,0.5,1,1,1.0,0.0198150504894266,0.0,0.43780852975801615,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,2,0.018866955702324547,0.4361891830226079,True,0.1,0.5,1,1,1.0,0.018866955702324547,0.0,0.4361891830226079,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,3,0.018476035003397798,0.4286684465854475,True,0.1,0.5,1,1,1.0,0.018476035003397798,0.0,0.4286684465854475,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,uncap_alcohol_burner,4,0.015348284665393438,0.4334203783491454,True,0.1,0.5,1,1,1.0,0.015348284665393438,0.0,0.4334203783491454,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,stir_beaker,0,0.09367702847793967,0.7248353839517492,False,0.1,0.5,1,0,0.0,0.09367702847793967,0.0,0.7248353839517492,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,stir_beaker,1,0.08921590148318802,0.9039982716736258,False,0.1,0.5,1,0,0.0,0.08921590148318802,0.0,0.9039982716736258,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,stir_beaker,2,0.0903825255935845,1.3175994976033838,False,0.1,0.5,1,0,0.0,0.0903825255935845,0.0,1.3175994976033838,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,stir_beaker,3,0.08782192437132938,0.8665573349335061,False,0.1,0.5,1,0,0.0,0.08782192437132938,0.0,0.8665573349335061,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,stir_beaker,4,0.09243608494369035,0.8229580396727932,False,0.1,0.5,1,0,0.0,0.09243608494369035,0.0,0.8229580396727932,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,unplug,0,0.04418982854351445,0.39029723585549886,True,0.1,0.5,1,1,1.0,0.04418982854351445,0.0,0.39029723585549886,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,unplug,1,0.03729246932241416,0.3650358689795932,True,0.1,0.5,1,1,1.0,0.03729246932241416,0.0,0.3650358689795932,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,unplug,2,0.03805048802277666,0.47638168547394827,True,0.1,0.5,1,1,1.0,0.03805048802277666,0.0,0.47638168547394827,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,unplug,3,0.010355485810636339,0.2609523290235618,True,0.1,0.5,1,1,1.0,0.010355485810636339,0.0,0.2609523290235618,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,unplug,4,0.08009182672664543,0.45820986221239074,True,0.1,0.5,1,1,1.0,0.08009182672664543,0.0,0.45820986221239074,0.0,2026-01-28 14:20:08
-oakink,allegro,bimanual,mjwp,pick_spoon_bowl,0,0.024071281429212422,0.40145962855675865,True,0.1,0.5,1,1,1.0,0.024071281429212422,0.0,0.40145962855675865,0.0,2026-01-28 14:20:08
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diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/config_act.yaml b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..463468b0fb2c049a5350a0a9f1652aaa1c6dc615
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/config_act.yaml
@@ -0,0 +1,184 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: uncap_alcohol_burner
+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/uncap_alcohol_burner/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 400
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.01
+pos_noise_scale: 0.003
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
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+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
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+- null
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+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
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+left_pos_ctrl_ids:
+- 50
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+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 511
+beta_traj: 0.9630748444263257
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0
diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz
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index 0000000000000000000000000000000000000000..6f67b6fdde9e4605582256060ce10043396f96bf
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 45062
diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz
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+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz
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diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_mjwp_act.npz b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_mjwp_act.npz
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--- /dev/null
+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/trajectory_mjwp_act.npz
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+robot_type: allegro
+embodiment_type: bimanual
+task: uncap_alcohol_burner
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/uncap_alcohol_burner/0/../scene_act.xml
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- right_object_rot_y
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+  - pinky
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+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
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+    <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@0206@00001/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj" />
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.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>
+  <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" />
+    <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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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="0.0135767 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">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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="0.0448951 -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">
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="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" />
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+    <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" />
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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_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>
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json
index c14cc64d8c00a3523f652014e92c1b189c9175de..27157f5d4467811ed9fdb096e38ef22aa31cb001 100644
--- a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/allegro/bimanual/unplug/0/config_act.yaml b/processed/oakink/allegro/bimanual/unplug/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e6f2072260e7258abbfb731c612db05e47ef7ec2
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/config_act.yaml
@@ -0,0 +1,190 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: unplug
+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/unplug/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
+right_contact_indices:
+- 0
+- 1
+- 2
+- 3
+- 4
+left_contact_indices:
+- 5
+- 6
+- 7
+- 8
+- 9
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
+- 51
+- 52
+contact_len: 10
+horizon_steps: 40
+knot_steps: 20
+ref_steps: 2
+ctrl_steps: 20
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 652
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/0
diff --git a/processed/oakink/allegro/bimanual/unplug/0/trajectory_ikrollout_act.npz b/processed/oakink/allegro/bimanual/unplug/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25a73a0901a22b6f403848a2be04ccd8ffca613d
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aba6ed35b908719a6023d5a3c8b8fea7802677ac4a62f3f056dcac96e6764a6
+size 175430
diff --git a/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9004563589cb0eb7401056768e90bb81dece0601
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbc9913407f6403aff3cba08dcf04fbf312d5506addfee39fb09ac389dc82d2e
+size 728236
diff --git a/processed/oakink/allegro/bimanual/unplug/0/trajectory_mjwp_act.npz b/processed/oakink/allegro/bimanual/unplug/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..453cf55c5c22d91bf1ac066d6ca7e2f9baae3f2d
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a085c6f71107409012ac4f0e02a8565611cd85e07590c780b23b8f907226c7f
+size 1115422
diff --git a/processed/oakink/allegro/bimanual/unplug/0/visualization_ik_act.mp4 b/processed/oakink/allegro/bimanual/unplug/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d435ddf735812ecf12f7d506664604832b393bd2
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1466b1cc19db3acc85798435098c0c4ed8b0acd3509f579cbfcf3b15c324bd5c
+size 173167
diff --git a/processed/oakink/allegro/bimanual/unplug/0/visualization_mjwp_act.mp4 b/processed/oakink/allegro/bimanual/unplug/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d17d6da2d32416096371b859bf20cefedd1434b3
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ca52b1ae9085e6d113b90cc77e8160e9ce38772fac36d208cf4d4244dcf9d7e
+size 869878
diff --git a/processed/oakink/allegro/bimanual/unplug/1/config_act.yaml b/processed/oakink/allegro/bimanual/unplug/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3a390d0613f76daf94865742e219765cd1da6eb7
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/unplug/1/config_act.yaml
@@ -0,0 +1,190 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: unplug
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
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+  - middle
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+  - ring
+- - right
+  - pinky
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+  - thumb
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+  - index
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+- - left
+  - pinky
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
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--- /dev/null
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diff --git a/processed/oakink/allegro/bimanual/unplug/scene_act.xml b/processed/oakink/allegro/bimanual/unplug/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a400cf673f24b6b8a396cdc0c6ffe709b9240beb
--- /dev/null
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable" />
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+      <default class="right_visual">
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+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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="0.00980974 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>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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="-0.0212484 -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">
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
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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" />
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+    <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="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" />
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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" />
+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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="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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/unplug/task_info.json b/processed/oakink/allegro/bimanual/unplug/task_info.json
index 5bc298d0d9674f4e0ccfc4e3b793bc540b68ba01..e903192e750a442049013898c7cc19ae9db8ce99 100644
--- a/processed/oakink/allegro/bimanual/unplug/task_info.json
+++ b/processed/oakink/allegro/bimanual/unplug/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/config_act.yaml b/processed/oakink/allegro/bimanual/wipe_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c23ae7d25932c442fd9f9b1fa0a996d68f6854f3
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/config_act.yaml
@@ -0,0 +1,190 @@
+robot_type: allegro
+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/allegro/bimanual/wipe_board/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
+right_contact_indices:
+- 0
+- 1
+- 2
+- 3
+- 4
+left_contact_indices:
+- 5
+- 6
+- 7
+- 8
+- 9
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
+- 51
+- 52
+contact_len: 10
+horizon_steps: 40
+knot_steps: 20
+ref_steps: 2
+ctrl_steps: 20
+nq_obj: 12
+nq: 56
+nv: 56
+nu: 56
+npair: 1001
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/0
diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_ikrollout_act.npz b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21483cac53c1b8ff0edb2dddee08aa2444cc72f0
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7e9acc254be19ee83ebda24bf5fa8e622d80d7215bd7e94a0b39f7eff65e36
+size 153030
diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bfebd7f555497506df038037e0901af7dbed79f0
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_mjwp_act.npz b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..106c4768e7ad3fb211b02171ba81131a69205206
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4007ab662d7a31cbb650e78f0ae6020b6354c7201823398951c20a17159d60e7
+size 2228214
diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/visualization_ik_act.mp4 b/processed/oakink/allegro/bimanual/wipe_board/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17e2cc751d5efc5937d45d98211edaea39db2e9e
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ba5e022c57f6aeca6ea417add04524a875ee93661a80529c101ef48fb08a34e
+size 193564
diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/visualization_init.mp4 b/processed/oakink/allegro/bimanual/wipe_board/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09f9a9b9120a65396907197a41936b2597ce105c
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9f4a4d753a76c53a87a0404c80d15aa9ad823f62d17a9c71a8042acd04fb4ba
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diff --git a/processed/oakink/allegro/bimanual/wipe_board/0/visualization_mjwp_act.mp4 b/processed/oakink/allegro/bimanual/wipe_board/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b4f0ef4805d9a1cc445416cfae0ba90fef0f83b
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/wipe_board/1/config_act.yaml b/processed/oakink/allegro/bimanual/wipe_board/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3306dbe1851314472a4ab068a1cbbd40fce73e91
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/1/config_act.yaml
@@ -0,0 +1,190 @@
+robot_type: allegro
+embodiment_type: bimanual
+task: wipe_board
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 44
+- 45
+- 46
+- 50
+- 51
+- 52
+- 47
+- 48
+- 49
+- 53
+- 54
+- 55
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+- 41
+- 3
+- 6
+- 9
+- 12
+- 16
+- 19
+- 22
+- 25
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 11
+- 2
+- 5
+- 8
+- null
+- 24
+- 21
+- 18
+- 15
+- null
+right_contact_indices:
+- 0
+- 1
+- 2
+- 3
+- 4
+left_contact_indices:
+- 5
+- 6
+- 7
+- 8
+- 9
+right_pos_ctrl_ids:
+- 44
+- 45
+- 46
+left_pos_ctrl_ids:
+- 50
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+- 52
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+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/allegro/bimanual/wipe_board/1
diff --git a/processed/oakink/allegro/bimanual/wipe_board/1/trajectory_kinematic_act.npz b/processed/oakink/allegro/bimanual/wipe_board/1/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bfebd7f555497506df038037e0901af7dbed79f0
--- /dev/null
+++ b/processed/oakink/allegro/bimanual/wipe_board/1/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_mjwp_act.npz b/processed/oakink/allegro/bimanual/wipe_board/4/trajectory_mjwp_act.npz
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diff --git a/processed/oakink/allegro/bimanual/wipe_board/scene_act.xml b/processed/oakink/allegro/bimanual/wipe_board/scene_act.xml
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index 0000000000000000000000000000000000000000..1e923b4d12d9ab1f8cbb654da1d60a72e35462eb
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="10">
+    <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" />
+  </visual>
+  <default>
+    <default class="mimic_right">
+      <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" />
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link" />
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0" />
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0" />
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0" />
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0" />
+        </default>
+        <default class="right_fingertip_visual">
+          <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" />
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" />
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082" />
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" />
+          </default>
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+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" />
+          </default>
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+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" />
+          </default>
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+          <default class="right_thumb_distal_collision">
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+          </default>
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+      <default class="right_base_slide">
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+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000" />
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+      </default>
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+        <general ctrlrange="0.174 1.709" />
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+        <general ctrlrange="0.227 1.618" />
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+        <general ctrlrange="0.263 1.396" />
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+    </default>
+    <default class="allegro_left">
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+      <geom density="800" />
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
+      <default class="left_visual">
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+        <default class="left_palm_visual">
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+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0" />
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0" />
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+        </default>
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+        </default>
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+          </default>
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+          <default class="left_thumb_medial_collision">
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+          </default>
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+          <geom size="0.0098 0.01375 0.008" />
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" />
+          </default>
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+        <default class="left_fingertip_collision">
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+          <default class="left_thumbtip_collision">
+            <geom size="0.012 0.008 0" />
+          </default>
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+      </default>
+      <default class="left_base_slide">
+        <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" gainprm="1000" biasprm="0 -1000" />
+      </default>
+      <default class="left_base">
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+        <general ctrlrange="-0.47 0.47" />
+      </default>
+      <default class="left_proximal">
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+        <general ctrlrange="0.196 1.61" />
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+      </default>
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+        <general ctrlrange="0.227 1.618" />
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+        <general ctrlrange="0.263 1.396" />
+      </default>
+      <default class="left_thumb_proximal">
+        <joint range="0.105 1.163" />
+        <general ctrlrange="0.105 1.163" />
+      </default>
+      <default class="left_thumb_medial">
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+        <general ctrlrange="0.189 1.644" />
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+        <joint range="0.162 1.719" />
+        <general ctrlrange="0.162 1.719" />
+      </default>
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+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
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+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
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+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </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" />
+      <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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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" />
+        <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" />
+          <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" />
+            <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" />
+              <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="0.01 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_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" />
+          <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" />
+            <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" />
+              <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="0.01 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>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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="-0.0312345 -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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+  </worldbody>
+  <contact>
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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="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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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="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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/wipe_board/task_info.json b/processed/oakink/allegro/bimanual/wipe_board/task_info.json
index 999f80de35d04660c6a1c66bbb4eeac99fda1e59..55a6b5f1d0d7a57320d9357e6fe5118a495e12bd 100644
--- a/processed/oakink/allegro/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/allegro/bimanual/wipe_board/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/1.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/1.obj
index 4af78c080732998e8830133f9c14557055cc0220..60fc5471e17c3031f99167e9a362136a832a55a2 100644
--- a/processed/oakink/assets/objects/O02@0011@00003/convex/1.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/1.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f01b7446f88e73c92299617e554d0f13110cb7fd4b35c7e679b17830b94c1de5
-size 1838
+oid sha256:d81740e5ba62b121d596c1f645a24f1dbb1f0610c488faef2574b3ff385c3833
+size 1794
diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/10.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e224ce5b6abd0b38a07abccd5ed47a7ba1b32a86
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d119b70c248105098531fde35bf1eb6e9c5111f273687da42d6c22b604fb950
+size 1803
diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/11.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ef445e94ce4bb694c489cd3659442e202047324
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8216fc20427ddcf093853c35d3ea583d69af451a739d1b70a782228d87f9ca99
+size 1853
diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/12.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4716127b230424c8ae40e934b337ee16bae16b8b
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/12.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d544f84810bdc2369910853a106bfdfc676734ce9369fbbb9973e7af2d0063f7
+size 1816
diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/13.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/13.obj
new file mode 100644
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new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
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+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/2.obj
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj
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--- a/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/3.obj
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj
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--- a/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/4.obj
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/5.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/5.obj
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+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/5.obj
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj
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--- a/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/6.obj
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj
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--- a/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/7.obj
@@ -1,3 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/8.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/8.obj
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/8.obj
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0011@00003/convex/9.obj b/processed/oakink/assets/objects/O02@0011@00003/convex/9.obj
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0011@00003/convex/9.obj
@@ -0,0 +1,3 @@
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+size 1816
diff --git a/processed/oakink/assets/objects/O02@0033@00001/convex_raw/0.obj b/processed/oakink/assets/objects/O02@0033@00001/convex_raw/0.obj
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0033@00001/convex_raw/0.obj
@@ -0,0 +1,3 @@
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+size 364586
diff --git a/processed/oakink/assets/objects/O02@0202@00002/convex/1.obj b/processed/oakink/assets/objects/O02@0202@00002/convex/1.obj
new file mode 100644
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+++ b/processed/oakink/assets/objects/O02@0202@00002/convex/1.obj
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/assets/objects/O02@0202@00002/convex/2.obj b/processed/oakink/assets/objects/O02@0202@00002/convex/2.obj
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0202@00002/convex/2.obj
@@ -0,0 +1,3 @@
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+size 3716
diff --git a/processed/oakink/assets/objects/O02@0202@00002/convex/3.obj b/processed/oakink/assets/objects/O02@0202@00002/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbfc71c629f49862a0790c61fedaf145a4ff696
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0202@00002/convex/3.obj
@@ -0,0 +1,3 @@
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+size 3063
diff --git a/processed/oakink/assets/objects/O02@0202@00002/convex/4.obj b/processed/oakink/assets/objects/O02@0202@00002/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7964c62d5436e131ae8a5f943f1022beb69e624b
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0202@00002/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4187
diff --git a/processed/oakink/assets/objects/O02@0202@00002/convex/5.obj b/processed/oakink/assets/objects/O02@0202@00002/convex/5.obj
new file mode 100644
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+++ b/processed/oakink/assets/objects/O02@0202@00002/convex/5.obj
@@ -0,0 +1,3 @@
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+size 4871
diff --git a/processed/oakink/assets/objects/O02@0202@00002/convex/6.obj b/processed/oakink/assets/objects/O02@0202@00002/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f903e7d3251a452ff04fae6cb166483246bc2bb8
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0202@00002/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3941
diff --git a/processed/oakink/assets/objects/O02@0202@00002/convex/7.obj b/processed/oakink/assets/objects/O02@0202@00002/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14487182947d258178d8e111ffb15cb9715fb2a
--- /dev/null
+++ b/processed/oakink/assets/objects/O02@0202@00002/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce58208472713cff156cbc52a596586ab737f41275b2acc20fffae5e4f6bd536
+size 3306
diff --git a/processed/oakink/assets/robots/ability/left.xml b/processed/oakink/assets/robots/ability/left.xml
index a92b4db21609b34b98854d2dddea134dfc826a7e..1978fa470a26c5bb406ef534cd10a62707492360 100644
--- a/processed/oakink/assets/robots/ability/left.xml
+++ b/processed/oakink/assets/robots/ability/left.xml
@@ -9,7 +9,7 @@
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
     <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" />
+      <position kp="1000" dampratio="1.0" inheritrange="1" />
     </default>
   </default>
 
diff --git a/processed/oakink/assets/robots/ability/right.xml b/processed/oakink/assets/robots/ability/right.xml
index 54cdfc791fbed65e106453368c3b6e71116a4b28..889ef90b0607d9f870f3ea5efefa42e2452a8499 100644
--- a/processed/oakink/assets/robots/ability/right.xml
+++ b/processed/oakink/assets/robots/ability/right.xml
@@ -9,7 +9,7 @@
     <joint damping="0.0" armature="1.0" frictionloss="0.0" />
     <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" />
+      <position kp="1000" dampratio="1.0" inheritrange="1" />
     </default>
   </default>
 
diff --git a/processed/oakink/assets/robots/inspire/left.xml b/processed/oakink/assets/robots/inspire/left.xml
index bd6812010156ee5641102eedbcd81202c0597efb..6148c50dd92d1d30618f634437ece4ff60b83d77 100644
--- a/processed/oakink/assets/robots/inspire/left.xml
+++ b/processed/oakink/assets/robots/inspire/left.xml
@@ -117,7 +117,7 @@
                                 fromto="0 0 0 0.0159104 -0.0156076 -0.00599021"
                                 contype="0" conaffinity="0"
                                 group="3" density="0" rgba="0 1 0 1" /> -->
-                            <geom name="collision_hand_left_thumb_0" type="capsule" size="0.005"
+                            <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008"
                                 fromto="-0.01 0.01 0 0.0159104 -0.0156076 -0.00599021"
                                 contype="0" conaffinity="0"
                                 group="3" density="0" rgba="0 1 0 1" />
@@ -154,7 +154,7 @@
                         rgba="0.1 0.1 0.1 1"
                         mesh="Link16_L" />
                     <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
-                    <geom name="collision_hand_left_index_0" type="capsule" size="0.005"
+                    <geom name="collision_hand_left_index_0" type="capsule" size="0.008"
                         fromto="0.005 -0.0 -0.005 -0.00412053 -0.0433132 -0.00501047"
                         contype="0" conaffinity="0"
                         group="3" density="0" rgba="0 1 0 1" />
@@ -188,7 +188,7 @@
                         rgba="0.1 0.1 0.1 1"
                         mesh="Link18_L" />
                     <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
-                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.005"
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.008"
                         fromto="0.005 -0.0 -0.005 -0.00426879 -0.0466043 -0.00498678"
                         contype="0" conaffinity="0"
                         group="3" density="0" rgba="0 1 0 1" />
@@ -223,7 +223,7 @@
                         rgba="0.1 0.1 0.1 1"
                         mesh="Link20_L" />
                     <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
-                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.005"
+                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.008"
                         fromto="0.005 -0.0 -0.005 -0.00366554 -0.0433541 -0.00501047"
                         contype="0" conaffinity="0"
                         group="3" density="0" rgba="0 1 0 1" />
@@ -262,7 +262,7 @@
                         pos="-0.00260734 -0.0362776 -0.00501047"
                         contype="0" conaffinity="0"
                         group="3" density="0" rgba="0 1 0 1" /> -->
-                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.005"
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008"
                         fromto="0.004 0.0 -0.005 -0.00260734 -0.0362776 -0.00501047"
                         contype="0" conaffinity="0"
                         group="3" density="0" rgba="0 1 0 1" />
@@ -308,4 +308,4 @@
         <position name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" />
 
     </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/processed/oakink/assets/robots/inspire/right.xml b/processed/oakink/assets/robots/inspire/right.xml
index a8408083a77ca85471af9df6a6499100b868c30c..955da573796efe4169bd1317358739024db5a281 100644
--- a/processed/oakink/assets/robots/inspire/right.xml
+++ b/processed/oakink/assets/robots/inspire/right.xml
@@ -110,7 +110,7 @@
                   fromto="0 0 0 0.0159104 0.0156076 -0.00599021"
                   contype="0" conaffinity="0"
                   group="3" density="0" rgba="0 1 0 1" /> -->
-              <geom name="collision_hand_right_thumb_0" type="capsule" size="0.005"
+              <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008"
                 fromto="-0.01 -0.01 0 0.0159104 0.0156076 -0.00599021"
                 contype="0" conaffinity="0"
                 group="3" density="0" rgba="0 1 0 1" />
@@ -142,7 +142,7 @@
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
             mesh="Link16_R" />
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
-          <geom name="collision_hand_right_index_0" type="capsule" size="0.005"
+          <geom name="collision_hand_right_index_0" type="capsule" size="0.008"
             fromto="0.005 -0.0 -0.005 -0.00412053 0.0433132 -0.00501047"
             contype="0" conaffinity="0"
             group="3" density="0" rgba="0 1 0 1" />
@@ -172,7 +172,7 @@
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
             mesh="Link18_R" />
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
-          <geom name="collision_hand_right_middle_0" type="capsule" size="0.005"
+          <geom name="collision_hand_right_middle_0" type="capsule" size="0.008"
             fromto="0.005 -0.0 -0.005 -0.00426879 0.0466043 -0.00498678"
             contype="0" conaffinity="0"
             group="3" density="0" rgba="0 1 0 1" />
@@ -202,7 +202,7 @@
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
             mesh="Link20_R" />
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
-          <geom name="collision_hand_right_ring_0" type="capsule" size="0.005"
+          <geom name="collision_hand_right_ring_0" type="capsule" size="0.008"
             fromto="0.005 -0.0 -0.005 -0.00366554 0.0433541 -0.00501047"
             contype="0" conaffinity="0"
             group="3" density="0" rgba="0 1 0 1" />
@@ -236,7 +236,7 @@
             pos="-0.00260734 0.0362776 -0.00501047"
             contype="0" conaffinity="0"
             group="3" density="0" rgba="0 1 0 1" /> -->
-          <geom name="collision_hand_right_pinky_0" type="capsule" size="0.005"
+          <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008"
             fromto="0.004 -0.0 -0.005 -0.00260734 0.0362776 -0.00501047"
             contype="0" conaffinity="0"
             group="3" density="0" rgba="0 1 0 1" />
@@ -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/oakink/inspire/bimanual/complete_data.csv b/processed/oakink/inspire/bimanual/complete_data.csv
index ce34ef46308e8bcaeb869579932e8ef47d58ae4b..df8fd261e7a29c28e268ecbeebcb91fa76c90e5b 100644
--- a/processed/oakink/inspire/bimanual/complete_data.csv
+++ b/processed/oakink/inspire/bimanual/complete_data.csv
@@ -1,34 +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,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
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diff --git a/processed/oakink/inspire/bimanual/lift_board/0/config_act.yaml b/processed/oakink/inspire/bimanual/lift_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..58773e40cc1d2ba8660d570b8b36134cf1928309
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/lift_board/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: lift_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/lift_board/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/lift_board/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 904
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
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+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07" />
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07" />
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08" />
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom name="collision_hand_right_thumb_0" size="0.008 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07" />
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08" />
+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom name="collision_hand_right_index_0" size="0.008 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom name="collision_hand_right_middle_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08" />
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom name="collision_hand_right_middle_0" size="0.008 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08" />
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom name="collision_hand_right_ring_0" size="0.008 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08" />
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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="0.0475256 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="-0.0346916 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_16" name="floor_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_16" name="collision_hand_right_palm_0_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1.5 1.5 0.15 0 0" />
+  </contact>
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/lift_board/task_info.json b/processed/oakink/inspire/bimanual/lift_board/task_info.json
index fbec3021d811d2f77571892ed2f32b12221718f3..ea833fb2d1902692f003a4a9e43329e98bdd776e 100644
--- a/processed/oakink/inspire/bimanual/lift_board/task_info.json
+++ b/processed/oakink/inspire/bimanual/lift_board/task_info.json
@@ -7,5 +7,7 @@
   "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"
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/config_act.yaml b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..eef0d9c23c94a828a9070c671e9859a99e512852
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/config_act.yaml
@@ -0,0 +1,186 @@
+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/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.2
+knot_dt: 0.2
+max_sim_steps: 6960
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
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+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
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+- right_object_pos_x
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+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+improvement_check_steps: 1
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+object_pos_threshold: 0.1
+object_rot_threshold: 0.3
+base_pos_threshold: 0.5
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+use_torch_compile: true
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 1.0
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+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
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+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
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+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
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+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
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+left_contact_indices:
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+- 37
+- 38
+left_pos_ctrl_ids:
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+- 43
+- 44
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+ctrl_steps: 40
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+beta_traj: 0.9630748444263257
+output_dir: /home/chaoyipan/Research/code/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
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index 0000000000000000000000000000000000000000..31bb5c99aa623a1abe12d88d6cc0d101a9dfb98a
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@@ -0,0 +1,186 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pick_spoon_bowl/0/../scene_act.xml
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+- right_object_pos_y
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diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/4/visualization_ik_act.mp4 b/processed/oakink/inspire/bimanual/pick_spoon_bowl/4/visualization_ik_act.mp4
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--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/4/visualization_ik_act.mp4
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diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/4/visualization_mjwp_act.mp4 b/processed/oakink/inspire/bimanual/pick_spoon_bowl/4/visualization_mjwp_act.mp4
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diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene.xml b/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene.xml
index 12d2f5444e420fd5f7cfedc21b79e9d8fb1f1240..c9e28241ace851be539fb667234856ff095f3b41 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene.xml
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene.xml
@@ -305,24 +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="1000" rgba="0 1 0 1" mesh="right_0"/>
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-      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_0" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="300" 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"/>
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-      <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_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
     </body>
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@@ -357,23 +357,23 @@
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+      <geom name="left_object_2" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_2"/>
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+      <geom name="left_object_7" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="300" 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"/>
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-      <site name="track_object_left_pinky_tip" pos="-0.0823454 -0.0448743 -0.0422737" 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"/>
     </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"/>
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_act.xml b/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a9f0ac31ec30bd1f4da6f159abe2d58d6a132131
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_act.xml
@@ -0,0 +1,1151 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable" />
+  </option>
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+    <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>
+    <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" />
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+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <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" />
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL" />
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+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL" />
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+      </body>
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+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07" />
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08" />
+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom name="collision_hand_right_index_0" size="0.008 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom name="collision_hand_right_middle_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08" />
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom name="collision_hand_right_middle_0" size="0.008 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08" />
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom name="collision_hand_right_ring_0" size="0.008 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08" />
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
+    <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_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_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" />
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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" />
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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_1" geom2="left_object_8" name="collision_hand_right_ring_1_left_object_8" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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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_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_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
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 c711c530ef4078c7ea474e2454c692b272499150..8736d8e798204115ed01cc17e507cfaca78dc3d7 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/scene_eq.xml
@@ -305,24 +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="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_0" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_2" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="300" 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="0.0164644 -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_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
       <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
     </body>
     <body name="ref_object_right_thumb_tip" mocap="true">
@@ -357,23 +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="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_0" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="300" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_8" type="mesh" group="3" density="300" 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="-0.0633333 -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"/>
+      <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"/>
     </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"/>
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 197fc7a211fab446db5a7912787b0d16f0bbd5a9..98d05a410b14806aba88578b1fb91c4abb9fef28 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
@@ -5,8 +5,10 @@
   "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex",
   "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"
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ 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
index 1c582d9a24389d740f41ba0288dbae0a9c216aff..9e750dc76fb1dc643dfed0ef4bea34fe0e89973a 100644
--- a/processed/oakink/inspire/bimanual/pour_tube/0/config.yaml
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/config.yaml
@@ -5,17 +5,17 @@ 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
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_kinematic_act.npz
 simulator: mjwp
 device: cuda:0
 sim_dt: 0.01
-ctrl_dt: 0.4
+ctrl_dt: 0.2
 ref_dt: 0.02
 render_dt: 0.02
-horizon: 2.0
-knot_dt: 0.4
-max_sim_steps: 1602
+horizon: 0.4
+knot_dt: 0.2
+max_sim_steps: 1402
 nconmax_per_env: 100
 njmax_per_env: 350
 num_dyn: 1
@@ -28,35 +28,82 @@ xy_offset_range:
 - 0.005
 perturb_force: 0.0
 perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.5
 num_samples: 1024
 temperature: 1.0
-max_num_iterations: 32
-improvement_threshold: 0.01
-improvement_check_steps: 2
+max_num_iterations: 8
+improvement_threshold: 0.0
+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
+first_ctrl_noise_scale: 1.0
 last_ctrl_noise_scale: 1.0
-final_noise_scale: 0.1
+final_noise_scale: 0.8
 exploit_ratio: 0.01
 exploit_noise_scale: 0.01
-joint_noise_scale: 0.03
+joint_noise_scale: 0
 pos_noise_scale: 0.01
-rot_noise_scale: 0.01
+rot_noise_scale: 0.03
 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
+rot_rew_scale: 3.0
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
 show_viewer: true
-viewer: ''
+viewer: mujoco-rerun
 rerun_spawn: true
 save_video: true
 save_info: true
@@ -79,14 +126,14 @@ trace_site_ids:
 - 25
 - 28
 - 31
-horizon_steps: 200
-knot_steps: 40
+horizon_steps: 40
+knot_steps: 20
 ref_steps: 2
-ctrl_steps: 40
-nq_obj: 14
-nq: 50
+ctrl_steps: 20
+nq_obj: 12
+nq: 48
 nv: 48
-nu: 36
-npair: 341
-beta_traj: 0.930572040929699
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0
+nu: 48
+npair: 558
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/config_act.yaml b/processed/oakink/inspire/bimanual/pour_tube/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e7246c26d03e47417815b69e2c618c8f62cb5ca4
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: pour_tube
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.03
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+- 1
+- 2
+- 3
+- 4
+left_contact_indices:
+- 5
+- 6
+- 7
+- 8
+- 9
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 40
+knot_steps: 20
+ref_steps: 2
+ctrl_steps: 20
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 806
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/0
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_ikrollout_act.npz b/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6353f96da6fbf75b7a1e69185ffa88c4327f7c7b
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a7aea183299980c2a55f0afc041128e44f1a363bc9811f3a32143558726589a
+size 307846
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_kinematic_act.npz b/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d8b229f2659842b67b2bfc1601a301a4b0be59e
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0adadd7d353ab4fbbf2b9e8ec7c92f38cee02257925b24632bb4a0e921c6aaf1
+size 1438188
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_mjwp_act.npz b/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22f8e8428c743998a860119753e420423d938a4a
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:766687f179ae05d71617cdc0fd57f1c29ea54abb70d01476499c6b554da9723d
+size 4595638
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/visualization_ik_act.mp4 b/processed/oakink/inspire/bimanual/pour_tube/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ceb5449fd81145ecc4efab7742d01cd922b2198
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4df46e7ee3ec4a5137368861f42f855c8ab2f423cea79dc55b33b9b2c44eaf5
+size 836641
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/visualization_init.mp4 b/processed/oakink/inspire/bimanual/pour_tube/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb89142b3381752c9df3716fa46dba5d5b6ed773
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579a9b9eace911e139b4d1890f385d20550755abe8188734dbccf89e5b0f6f1a
+size 103796
diff --git a/processed/oakink/inspire/bimanual/pour_tube/0/visualization_mjwp_act.mp4 b/processed/oakink/inspire/bimanual/pour_tube/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..695e9d97c75329778b2f75f7e9963c5ff0db5ee5
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9d24992b13d2b2871882bb01531a5c397a0f3780acae5c668beac2bc6fc4ae2
+size 2177955
diff --git a/processed/oakink/inspire/bimanual/pour_tube/1/config_act.yaml b/processed/oakink/inspire/bimanual/pour_tube/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..03f4aa5168ed57ab3c5441a06e59659820cf1362
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: inspire
+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/inspire/bimanual/pour_tube/1/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 3204
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
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+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 806
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/pour_tube/4
diff --git a/processed/oakink/inspire/bimanual/pour_tube/4/trajectory_kinematic_act.npz b/processed/oakink/inspire/bimanual/pour_tube/4/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d8b229f2659842b67b2bfc1601a301a4b0be59e
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/4/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0adadd7d353ab4fbbf2b9e8ec7c92f38cee02257925b24632bb4a0e921c6aaf1
+size 1438188
diff --git a/processed/oakink/inspire/bimanual/pour_tube/4/trajectory_mjwp_act.npz b/processed/oakink/inspire/bimanual/pour_tube/4/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8fd64bce8b924e8dc03251eb562aed37f27889dc
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/4/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317db66d9cca06a56eeb09961557e066d3e6d23da2459ac2e906aa582feac5ba
+size 4595638
diff --git a/processed/oakink/inspire/bimanual/pour_tube/4/visualization_ik_act.mp4 b/processed/oakink/inspire/bimanual/pour_tube/4/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ceb5449fd81145ecc4efab7742d01cd922b2198
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/4/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4df46e7ee3ec4a5137368861f42f855c8ab2f423cea79dc55b33b9b2c44eaf5
+size 836641
diff --git a/processed/oakink/inspire/bimanual/pour_tube/4/visualization_mjwp_act.mp4 b/processed/oakink/inspire/bimanual/pour_tube/4/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5a4454200d498c11aa4939082c52eac715da52b
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/4/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11b1f6e7dc3c0e3c014f2f298fa97072b2bfabd1cae5165b26f90a8e2057d77f
+size 2180853
diff --git a/processed/oakink/inspire/bimanual/pour_tube/scene.xml b/processed/oakink/inspire/bimanual/pour_tube/scene.xml
index 37a7100b677f29460e13e2d1110ec10524f1c22d..2ab7368c012163ec3f98ff671b50ff06fb8de345 100644
--- a/processed/oakink/inspire/bimanual/pour_tube/scene.xml
+++ b/processed/oakink/inspire/bimanual/pour_tube/scene.xml
@@ -56,13 +56,28 @@
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <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_10" file="objects/O02@0011@00003/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0011@00003/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0011@00003/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0011@00003/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0011@00003/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0011@00003/convex/15.obj"/>
     <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0011@00003/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0011@00003/convex/9.obj"/>
     <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0202@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0202@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0202@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0202@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0202@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0202@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0202@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
   </asset>
@@ -105,7 +120,7 @@
               <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
               <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
-              <geom name="collision_hand_right_thumb_0" size="0.005 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <geom name="collision_hand_right_thumb_0" size="0.008 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
               <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
               <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
               <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
@@ -124,7 +139,7 @@
           <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
-          <geom name="collision_hand_right_index_0" size="0.005 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_index_0" size="0.008 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
           <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
           <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
@@ -141,7 +156,7 @@
           <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
-          <geom name="collision_hand_right_middle_0" size="0.005 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_middle_0" size="0.008 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
           <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
           <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
@@ -158,7 +173,7 @@
           <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
-          <geom name="collision_hand_right_ring_0" size="0.005 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_ring_0" size="0.008 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
           <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
           <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
@@ -175,7 +190,7 @@
           <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
-          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
           <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
           <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
@@ -215,7 +230,7 @@
               <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
               <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
-              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
               <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
               <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
               <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
@@ -234,7 +249,7 @@
           <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
-          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
           <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
           <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
@@ -251,7 +266,7 @@
           <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
-          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
           <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
           <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
@@ -268,7 +283,7 @@
           <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
-          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
           <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
           <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
@@ -285,7 +300,7 @@
           <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
-          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
           <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
           <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
@@ -296,12 +311,20 @@
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_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"/>
@@ -344,6 +367,13 @@
     <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="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"/>
@@ -386,347 +416,812 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="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_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_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_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"/>
-    <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_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_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_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_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"/>
-    <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_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_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_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"/>
-    <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="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_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_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_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_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"/>
-    <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_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"/>
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-    <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_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_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_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_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_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_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_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_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="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"/>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
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+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
   </contact>
 
   <actuator>
diff --git a/processed/oakink/inspire/bimanual/pour_tube/scene_act.xml b/processed/oakink/inspire/bimanual/pour_tube/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2a6615dc58858e1ebb411e1d939ead38e76841aa
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/scene_act.xml
@@ -0,0 +1,1280 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="20">
+    <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" />
+  </visual>
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1" />
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
+  </default>
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="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="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="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" />
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL" />
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL" />
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL" />
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL" />
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL" />
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL" />
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL" />
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL" />
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL" />
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL" />
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL" />
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL" />
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL" />
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL" />
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL" />
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL" />
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL" />
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL" />
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL" />
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL" />
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL" />
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL" />
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL" />
+    <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@0011@00003/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj" />
+    <mesh name="right_10" file="objects/O02@0011@00003/convex/10.obj" />
+    <mesh name="right_11" file="objects/O02@0011@00003/convex/11.obj" />
+    <mesh name="right_12" file="objects/O02@0011@00003/convex/12.obj" />
+    <mesh name="right_13" file="objects/O02@0011@00003/convex/13.obj" />
+    <mesh name="right_14" file="objects/O02@0011@00003/convex/14.obj" />
+    <mesh name="right_15" file="objects/O02@0011@00003/convex/15.obj" />
+    <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj" />
+    <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj" />
+    <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj" />
+    <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj" />
+    <mesh name="right_8" file="objects/O02@0011@00003/convex/8.obj" />
+    <mesh name="right_9" file="objects/O02@0011@00003/convex/9.obj" />
+    <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj" />
+    <mesh name="left_1" file="objects/O02@0202@00002/convex/1.obj" />
+    <mesh name="left_2" file="objects/O02@0202@00002/convex/2.obj" />
+    <mesh name="left_3" file="objects/O02@0202@00002/convex/3.obj" />
+    <mesh name="left_4" file="objects/O02@0202@00002/convex/4.obj" />
+    <mesh name="left_5" file="objects/O02@0202@00002/convex/5.obj" />
+    <mesh name="left_6" file="objects/O02@0202@00002/convex/6.obj" />
+    <mesh name="left_7" file="objects/O02@0202@00002/convex/7.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>
+    <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_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link" />
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
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+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
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+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
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+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08" />
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom name="collision_hand_right_thumb_0" size="0.008 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
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+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
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+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
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+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
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+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
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+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
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+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
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+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
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+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+        </body>
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+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
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+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
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+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
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+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
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+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
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+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
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+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
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+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
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+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
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+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
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+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
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+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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="0.0203067 -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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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="-0.00669959 -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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="3 3 0.3 0 0" />
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+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0" />
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+    <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="3 3 0.3 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="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="3 3 0.3 0 0" />
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="3 3 0.3 0 0" />
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+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_0" name="right_object_11_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_0" name="right_object_8_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_1" name="right_object_8_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_2" name="right_object_8_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_3" name="right_object_8_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_4" name="right_object_8_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_0" name="right_object_9_left_object_0" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.03 0.03 0.0003 0 0" />
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.03 0.03 0.0003 0 0" />
+  </contact>
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml b/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
index 26c2f15e6bdf80858e0214505cd9d84e795eaab1..c71552361f373c829a707f09d2b50b24ef4c4629 100644
--- a/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
+++ b/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
@@ -56,13 +56,28 @@
     <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
     <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_10" file="objects/O02@0011@00003/convex/10.obj"/>
+    <mesh name="right_11" file="objects/O02@0011@00003/convex/11.obj"/>
+    <mesh name="right_12" file="objects/O02@0011@00003/convex/12.obj"/>
+    <mesh name="right_13" file="objects/O02@0011@00003/convex/13.obj"/>
+    <mesh name="right_14" file="objects/O02@0011@00003/convex/14.obj"/>
+    <mesh name="right_15" file="objects/O02@0011@00003/convex/15.obj"/>
     <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj"/>
     <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj"/>
     <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj"/>
     <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj"/>
     <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
     <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="right_8" file="objects/O02@0011@00003/convex/8.obj"/>
+    <mesh name="right_9" file="objects/O02@0011@00003/convex/9.obj"/>
     <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0202@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0202@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0202@00002/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0202@00002/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0202@00002/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0202@00002/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0202@00002/convex/7.obj"/>
     <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
     <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
   </asset>
@@ -105,7 +120,7 @@
               <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
               <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
-              <geom name="collision_hand_right_thumb_0" size="0.005 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <geom name="collision_hand_right_thumb_0" size="0.008 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
               <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
               <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
               <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
@@ -124,7 +139,7 @@
           <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
-          <geom name="collision_hand_right_index_0" size="0.005 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_index_0" size="0.008 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
           <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
           <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
@@ -141,7 +156,7 @@
           <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
-          <geom name="collision_hand_right_middle_0" size="0.005 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_middle_0" size="0.008 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
           <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
           <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
@@ -158,7 +173,7 @@
           <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
-          <geom name="collision_hand_right_ring_0" size="0.005 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_ring_0" size="0.008 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
           <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
           <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
@@ -175,7 +190,7 @@
           <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
-          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
           <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
           <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
@@ -215,7 +230,7 @@
               <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
               <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
-              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
               <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
               <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
               <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
@@ -234,7 +249,7 @@
           <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
-          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
           <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
           <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
@@ -251,7 +266,7 @@
           <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
-          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
           <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
           <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
@@ -268,7 +283,7 @@
           <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
-          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
           <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
           <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
@@ -285,7 +300,7 @@
           <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
           <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
-          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
           <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
           <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
           <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
@@ -296,12 +311,20 @@
       <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
       <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
       <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_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"/>
@@ -344,6 +367,13 @@
     <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="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"/>
@@ -386,347 +416,812 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="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_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"/>
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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="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_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_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_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_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_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_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="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"/>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="3 3 0.3 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="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="3 3 0.3 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="3 3 0.3 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_0" name="right_object_10_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_1" name="right_object_10_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_2" name="right_object_10_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_3" name="right_object_10_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_4" name="right_object_10_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_5" name="right_object_10_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_6" name="right_object_10_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_10" geom2="left_object_7" name="right_object_10_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_0" name="right_object_11_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
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+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
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+    <pair geom1="right_object_8" geom2="left_object_5" name="right_object_8_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_6" name="right_object_8_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_8" geom2="left_object_7" name="right_object_8_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
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+    <pair geom1="right_object_9" geom2="left_object_1" name="right_object_9_left_object_1" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_2" name="right_object_9_left_object_2" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_3" name="right_object_9_left_object_3" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_4" name="right_object_9_left_object_4" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_5" name="right_object_9_left_object_5" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_6" name="right_object_9_left_object_6" friction="0.03 0.03 0.0003 0 0"/>
+    <pair geom1="right_object_9" geom2="left_object_7" name="right_object_9_left_object_7" friction="0.03 0.03 0.0003 0 0"/>
   </contact>
 
   <equality>
diff --git a/processed/oakink/inspire/bimanual/pour_tube/task_info.json b/processed/oakink/inspire/bimanual/pour_tube/task_info.json
index 4794556b1b08fef39114fa70526a741ccbc3f492..ea33b5a651f23da7276e39262c7b7eb5a5333430 100644
--- a/processed/oakink/inspire/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/inspire/bimanual/pour_tube/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/config_act.yaml b/processed/oakink/inspire/bimanual/stir_beaker/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7dde08a6de072ef155687598aa21fd4270035ce8
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: inspire
+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/inspire/bimanual/stir_beaker/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 2208
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 621
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/0
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf996e3ea9788563a022de3484f5de4ee4c16043
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
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+size 212230
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic_act.npz b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwp_act.npz b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwp_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3166038
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_ik_act.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_ik_act.mp4
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--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_init.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_init.mp4
new file mode 100644
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--- /dev/null
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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/inspire/bimanual/stir_beaker/0/visualization_mjwp_act.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c679b8f000ca2e64fb8862320807efee0717e70d
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/1/config_act.yaml b/processed/oakink/inspire/bimanual/stir_beaker/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..598d9fc2c5450d3e0e7bc80baeaca9b8eb2615fb
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/1/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: stir_beaker
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
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+horizon: 0.4
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+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:
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+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
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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
+xy_offset_range:
+- -0.005
+- 0.005
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+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
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+- 38
+- 42
+- 43
+- 44
+- 39
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+- 41
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+- 46
+- 47
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
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+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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+show_viewer: true
+viewer: mujoco-rerun
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+save_video: true
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+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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+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+- 36
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+left_pos_ctrl_ids:
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+knot_steps: 20
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+ctrl_steps: 20
+nq_obj: 12
+nq: 48
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+npair: 621
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/stir_beaker/4
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/4/trajectory_kinematic_act.npz b/processed/oakink/inspire/bimanual/stir_beaker/4/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0adfc3ca3c057588b9c1567ad425021aa96ecb39
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/4/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/4/trajectory_mjwp_act.npz b/processed/oakink/inspire/bimanual/stir_beaker/4/trajectory_mjwp_act.npz
new file mode 100644
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--- /dev/null
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/4/visualization_ik_act.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/4/visualization_ik_act.mp4
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/oakink/inspire/bimanual/stir_beaker/4/visualization_mjwp_act.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/4/visualization_mjwp_act.mp4
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--- /dev/null
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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/inspire/bimanual/stir_beaker/scene_act.xml b/processed/oakink/inspire/bimanual/stir_beaker/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2cac702344d4170964eb66784ef9129702231138
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/scene_act.xml
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable" />
+  </option>
+  <visual>
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+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
+    <rgba haze="0.15 0.25 0.35 1" />
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+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1" />
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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" />
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+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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" />
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+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08" />
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom name="collision_hand_right_middle_0" size="0.008 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08" />
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom name="collision_hand_right_ring_0" size="0.008 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08" />
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="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_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_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="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_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" />
+    <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_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_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_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" />
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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" />
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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="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_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="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" />
+    <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_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" />
+    <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_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" />
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+    <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="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/task_info.json b/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
index 1ec50a83b8932155a7389e932a2935b60cc9d566..33b67e1402f83fbe7868c50c0ecfd0835cb2060f 100644
--- a/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/inspire/bimanual/summary.csv b/processed/oakink/inspire/bimanual/summary.csv
index 4bf84be1e000619a762eb9784c8812cfa1d2cead..1e37e7c8ca9eaffc43d321be36f55b0a9c7d27a0 100644
--- a/processed/oakink/inspire/bimanual/summary.csv
+++ b/processed/oakink/inspire/bimanual/summary.csv
@@ -13,36 +13,38 @@ oakink,inspire,bimanual,mjwp,pour_tube,0,0.0472278128832818,0.6956920842144376,F
 oakink,inspire,bimanual,mjwp,pour_tube,1,0.0865259261927589,1.519588231074214,False,0.1,0.6,1,0,0.0,0.0865259261927589,0.0,1.519588231074214,0.0,2026-01-27 20:13:47
 oakink,inspire,bimanual,mjwp,wipe_board,0,0.0131605486607914,0.3633003141259529,True,0.1,0.6,1,1,1.0,0.0131605486607914,0.0,0.3633003141259529,0.0,2026-01-27 20:13:47
 oakink,inspire,bimanual,mjwp,wipe_board,1,0.0676685592577676,1.5852277056650843,False,0.1,0.6,1,0,0.0,0.0676685592577676,0.0,1.5852277056650843,0.0,2026-01-27 20:13:47
-oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,0,0.04079000729566539,0.6686777617544598,False,0.1,0.5,1,0,0.0,0.04079000729566539,0.0,0.6686777617544598,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,1,0.017918095576717124,0.4449986280056821,True,0.1,0.5,1,1,1.0,0.017918095576717124,0.0,0.4449986280056821,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,uncap_alcohol_burner,2,0.018049129206339755,0.46284208986499936,True,0.1,0.5,1,1,1.0,0.018049129206339755,0.0,0.46284208986499936,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,stir_beaker,0,0.02288918867991889,0.49468774619705297,True,0.1,0.5,1,1,1.0,0.02288918867991889,0.0,0.49468774619705297,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,stir_beaker,1,0.019416059789058387,0.4170417578879614,True,0.1,0.5,1,1,1.0,0.019416059789058387,0.0,0.4170417578879614,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,stir_beaker,2,0.025645775311213287,0.43433322913495886,True,0.1,0.5,1,1,1.0,0.025645775311213287,0.0,0.43433322913495886,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,stir_beaker,3,0.03186236068710576,0.5512112839672827,False,0.1,0.5,1,0,0.0,0.03186236068710576,0.0,0.5512112839672827,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,stir_beaker,4,0.08044657413741359,0.925954139765486,False,0.1,0.5,1,0,0.0,0.08044657413741359,0.0,0.925954139765486,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,unplug,0,0.009184087724705817,0.19372704918089384,True,0.1,0.5,1,1,1.0,0.009184087724705817,0.0,0.19372704918089384,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,unplug,1,0.009645532065674686,0.17596467138567223,True,0.1,0.5,1,1,1.0,0.009645532065674686,0.0,0.17596467138567223,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,unplug,2,0.010572599741544644,0.1790691908405826,True,0.1,0.5,1,1,1.0,0.010572599741544644,0.0,0.1790691908405826,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,unplug,3,0.04054155584743648,0.46373911930684925,True,0.1,0.5,1,1,1.0,0.04054155584743648,0.0,0.46373911930684925,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,unplug,4,0.010877631503351831,0.17159825061879894,True,0.1,0.5,1,1,1.0,0.010877631503351831,0.0,0.17159825061879894,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pick_spoon_bowl,0,0.05736686044832933,1.064557881307405,False,0.1,0.5,1,0,0.0,0.05736686044832933,0.0,1.064557881307405,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pick_spoon_bowl,1,0.053710053879793336,0.7214168322380012,False,0.1,0.5,1,0,0.0,0.053710053879793336,0.0,0.7214168322380012,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pick_spoon_bowl,2,0.06559872810431876,0.6710033858666943,False,0.1,0.5,1,0,0.0,0.06559872810431876,0.0,0.6710033858666943,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pick_spoon_bowl,3,0.06243754088035905,0.6663619667444857,False,0.1,0.5,1,0,0.0,0.06243754088035905,0.0,0.6663619667444857,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pick_spoon_bowl,4,0.05742909972360651,0.7608642418628787,False,0.1,0.5,1,0,0.0,0.05742909972360651,0.0,0.7608642418628787,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,lift_board,0,0.07627337661198358,0.10311566259017003,True,0.1,0.5,1,1,1.0,0.07627337661198358,0.0,0.10311566259017003,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,lift_board,1,0.07213640179792098,0.09899532200999007,True,0.1,0.5,1,1,1.0,0.07213640179792098,0.0,0.09899532200999007,0.0,2026-01-28 14:20:36
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-oakink,inspire,bimanual,mjwp,lift_board,3,0.07381431677666556,0.1282491888496431,True,0.1,0.5,1,1,1.0,0.07381431677666556,0.0,0.1282491888496431,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,lift_board,4,0.07256460839345082,0.12706683495318882,True,0.1,0.5,1,1,1.0,0.07256460839345082,0.0,0.12706683495318882,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pour_tube,0,0.08478254422931243,1.2552227418847925,False,0.1,0.5,1,0,0.0,0.08478254422931243,0.0,1.2552227418847925,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pour_tube,1,0.08652592619275892,1.519588231074214,False,0.1,0.5,1,0,0.0,0.08652592619275892,0.0,1.519588231074214,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pour_tube,2,0.08448060051018885,1.4823585226063143,False,0.1,0.5,1,0,0.0,0.08448060051018885,0.0,1.4823585226063143,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pour_tube,3,0.08391990127372445,1.7022365141564377,False,0.1,0.5,1,0,0.0,0.08391990127372445,0.0,1.7022365141564377,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,pour_tube,4,0.085105579062485,1.4763687852349532,False,0.1,0.5,1,0,0.0,0.085105579062485,0.0,1.4763687852349532,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,wipe_board,0,0.07558403298570447,1.7866182879250287,False,0.1,0.5,1,0,0.0,0.07558403298570447,0.0,1.7866182879250287,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,wipe_board,1,0.06766855925776769,1.5852277056650843,False,0.1,0.5,1,0,0.0,0.06766855925776769,0.0,1.5852277056650843,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,wipe_board,2,0.01828312449223162,0.9526644356916942,False,0.1,0.5,1,0,0.0,0.01828312449223162,0.0,0.9526644356916942,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,wipe_board,3,0.014360475332824326,0.9342419851375906,False,0.1,0.5,1,0,0.0,0.014360475332824326,0.0,0.9342419851375906,0.0,2026-01-28 14:20:36
-oakink,inspire,bimanual,mjwp,wipe_board,4,0.01728859862143643,0.8718366834341192,False,0.1,0.5,1,0,0.0,0.01728859862143643,0.0,0.8718366834341192,0.0,2026-01-28 14:20:36
+oakink,inspire,bimanual,mjwp_act,uncap_alcohol_burner,3,0.03789136956785094,0.3555344212605514,True,0.1,0.5,1,1,1.0,0.03789136956785094,0.0,0.3555344212605514,0.0,2026-02-02 16:10:52
+oakink,inspire,bimanual,mjwp_act,uncap_alcohol_burner,4,0.030214381291391465,0.43087065310518,True,0.1,0.5,1,1,1.0,0.030214381291391465,0.0,0.43087065310518,0.0,2026-02-02 16:10:52
+oakink,inspire,bimanual,mjwp_act,uncap_alcohol_burner,1,0.023489528629247292,0.37439834817553824,True,0.1,0.5,1,1,1.0,0.023489528629247292,0.0,0.37439834817553824,0.0,2026-02-02 16:10:52
+oakink,inspire,bimanual,mjwp_act,uncap_alcohol_burner,0,0.035163912712509744,0.4296996671603131,True,0.1,0.5,1,1,1.0,0.035163912712509744,0.0,0.4296996671603131,0.0,2026-02-02 16:10:52
+oakink,inspire,bimanual,mjwp_act,uncap_alcohol_burner,2,0.044827400648706835,1.6198096268447855,False,0.1,0.5,1,0,0.0,0.044827400648706835,0.0,1.6198096268447855,0.0,2026-02-02 16:10:52
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+oakink,inspire,bimanual,mjwp_act,stir_beaker,1,0.10966157278791577,1.1823567423914585,False,0.1,0.5,1,0,0.0,0.10966157278791577,0.0,1.1823567423914585,0.0,2026-02-02 16:10:52
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+oakink,inspire,bimanual,mjwp_act,stir_beaker,2,0.10045431606849871,1.4250570664671651,False,0.1,0.5,1,0,0.0,0.10045431606849871,0.0,1.4250570664671651,0.0,2026-02-02 16:10:52
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+oakink,inspire,bimanual,mjwp_act,unplug,0,0.050429312275531483,0.3475901792631312,True,0.1,0.5,1,1,1.0,0.050429312275531483,0.0,0.3475901792631312,0.0,2026-02-02 16:10:52
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/config_act.yaml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0b075cd8afb3f5feb34146efedae240954061c5f
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: uncap_alcohol_burner
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz
+simulator: mjwp
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+max_sim_steps: 200
+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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+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
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+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
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+- right_object_rot_x
+- right_object_rot_y
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+- left_object_rot_x
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+  - pinky
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/1/config_act.yaml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/1/config_act.yaml
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+robot_type: inspire
+embodiment_type: bimanual
+task: uncap_alcohol_burner
+seed: 2
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 2
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/uncap_alcohol_burner/2/trajectory_kinematic_act.npz
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+nconmax_per_env: 100
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+num_dr: 1
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/3/config_act.yaml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/3/config_act.yaml
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/4/visualization_mjwp_act.mp4 b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/4/visualization_mjwp_act.mp4
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diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_act.xml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_act.xml
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable" />
+  </option>
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+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
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+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
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+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <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" />
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+    <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="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="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" />
+    <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_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="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="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_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="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
index db8a6bcdfdadc4d97cb13662c4bcb26e292832b9..fa06f90f32ca364a98e302206d7e18b5b26d756a 100644
--- a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/inspire/bimanual/unplug/0/config_act.yaml b/processed/oakink/inspire/bimanual/unplug/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f6105666e75db621b8b9eff193a2aeeae4359fce
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: unplug
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/0/trajectory_kinematic_act.npz
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 0.2
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.2
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.6
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 8
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.8
+exploit_ratio: 0.01
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+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
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+- - right
+  - thumb
+- - right
+  - index
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+  - middle
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+  - ring
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+  - pinky
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+- 14
+- 18
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+- 2
+- 3
+- 4
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+- 6
+- 7
+- 8
+- 9
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+- 37
+- 38
+left_pos_ctrl_ids:
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+- 43
+- 44
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+ctrl_steps: 20
+nq_obj: 12
+nq: 48
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+npair: 621
+beta_traj: 0.9724924724660731
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/0
diff --git a/processed/oakink/inspire/bimanual/unplug/0/trajectory_ikrollout_act.npz b/processed/oakink/inspire/bimanual/unplug/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ea1a9a591a929ad4265674520a36fb5066609bc
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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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/inspire/bimanual/unplug/1/config_act.yaml b/processed/oakink/inspire/bimanual/unplug/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4b82ccb6c0faf116e5909638277d4e954fb73ce4
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/1/config_act.yaml
@@ -0,0 +1,192 @@
+robot_type: inspire
+embodiment_type: bimanual
+task: unplug
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/inspire/bimanual/unplug/0/trajectory_kinematic_act.npz
+simulator: mjwp
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+num_dyn: 1
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+pair_margin_range:
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+- 0.005
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+- 0.005
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+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
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+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+  - thumb
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diff --git a/processed/oakink/inspire/bimanual/unplug/1/trajectory_kinematic_act.npz b/processed/oakink/inspire/bimanual/unplug/1/trajectory_kinematic_act.npz
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index 0000000000000000000000000000000000000000..d9b2c93d393174c3d57d54b179e36767d8171be3
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@@ -0,0 +1,186 @@
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+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL" />
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL" />
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL" />
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL" />
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL" />
+    <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@0047@00002/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj" />
+    <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" />
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj" />
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj" />
+    <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>
+  <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" />
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link" />
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
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+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
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+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
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+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08" />
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom name="collision_hand_right_thumb_0" size="0.008 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
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+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
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+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
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+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
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+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
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+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
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+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
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+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+        </body>
+      </body>
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+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
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+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
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+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
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+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
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+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
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+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
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+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
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+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
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+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_thumb_tip" pos="0.00980974 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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
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+    <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" />
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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" />
+    <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_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="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/unplug/task_info.json b/processed/oakink/inspire/bimanual/unplug/task_info.json
index 8a607a97fd4dcfc70effc627975367be744604d2..5227b6aeb7ef596c9456fd63733027997af7e1fe 100644
--- a/processed/oakink/inspire/bimanual/unplug/task_info.json
+++ b/processed/oakink/inspire/bimanual/unplug/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/inspire/bimanual/wipe_board/0/config_act.yaml b/processed/oakink/inspire/bimanual/wipe_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..17e186d98f7757e84d59be6734d48109457c6299
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/wipe_board/0/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 1364
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
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+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07" />
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07" />
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08" />
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <geom name="collision_hand_right_thumb_0" size="0.008 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07" />
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08" />
+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom name="collision_hand_right_index_0" size="0.008 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom name="collision_hand_right_middle_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08" />
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom name="collision_hand_right_middle_0" size="0.008 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08" />
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom name="collision_hand_right_ring_0" size="0.008 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08" />
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <geom name="collision_hand_right_pinky_0" size="0.008 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" />
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" />
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" />
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" 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_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" />
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" />
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+              <geom name="collision_hand_left_thumb_0" size="0.008 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+          <geom name="collision_hand_left_index_0" size="0.008 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+          <geom name="collision_hand_left_middle_0" size="0.008 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+          <geom name="collision_hand_left_ring_0" size="0.008 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+          <geom name="collision_hand_left_pinky_0" size="0.008 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1" />
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" />
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="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" />
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+    <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" />
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+    <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" />
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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" />
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+    <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" />
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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" />
+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3" />
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5" />
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8" />
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2" />
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7" />
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/wipe_board/task_info.json b/processed/oakink/inspire/bimanual/wipe_board/task_info.json
index cd6cffc1d29199de2a7976d07ea0866ee7605e81..02c0c7c5199f8f2db97f885b98d060eb5917bf32 100644
--- a/processed/oakink/inspire/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/inspire/bimanual/wipe_board/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/lift_board/task_info.json b/processed/oakink/mano/bimanual/lift_board/task_info.json
index e4faabdb6762debf757241439df81f63f5a6f043..9f54eec06f298dea3731ddef83312069b9913fe2 100644
--- a/processed/oakink/mano/bimanual/lift_board/task_info.json
+++ b/processed/oakink/mano/bimanual/lift_board/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_keypoints.npz b/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_keypoints.npz
index 00712fa517113aebdf470e8ec6d2eaa92a598169..b34756683d986954a3384263286ee7784ed4c324 100644
--- a/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_keypoints.npz
+++ b/processed/oakink/mano/bimanual/pick_spoon_bowl/0/trajectory_keypoints.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bcf232efdb7c51596b544a8139f2333816a3801d2dbbf6d83bc7ef733cd78c9a
-size 1509696
+oid sha256:a4fe02e774a2424719b5647e33b46f15441fb4d8cb03b1dc7692d03d8560576f
+size 1368892
diff --git a/processed/oakink/mano/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/mano/bimanual/pick_spoon_bowl/task_info.json
index b4ee0471fe37a2362c72921e0088fcefe140bb39..73494dfc4253ac2110b7d96837776856cfc6f4d2 100644
--- a/processed/oakink/mano/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/mano/bimanual/pick_spoon_bowl/task_info.json
@@ -5,8 +5,10 @@
   "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex",
   "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
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/pour_tube/task_info.json b/processed/oakink/mano/bimanual/pour_tube/task_info.json
index 65a5e8ec1b7f65ce7352bcdacfc09349e74de123..5402214dbfd95e781e7fd238c898855357d7c2a7 100644
--- a/processed/oakink/mano/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/mano/bimanual/pour_tube/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/stir_beaker/task_info.json b/processed/oakink/mano/bimanual/stir_beaker/task_info.json
index 31f23cace0ab26b85348b2c51f73a21cc4cf052f..8736c2e052ec7e9ed43b95aa9970074fb7025938 100644
--- a/processed/oakink/mano/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/mano/bimanual/stir_beaker/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json b/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json
index 4248a57d276d1de76978f58565ca487a355f7c89..0761659cd103f76771a582c1039c4150bd473a87 100644
--- a/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json
+++ b/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0015@00022",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0015@00023",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0015@00022/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0015@00023/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0015@00023/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json
index cc07dad2e3038083d1bc9b3c03cffab273583554..89c534e0d062dce8f2159893882149f0e04234ab 100644
--- a/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/unplug/task_info.json b/processed/oakink/mano/bimanual/unplug/task_info.json
index 0493740a10e058d741d27ab15c08e5174b78e7bc..f1023101fcb0e752706b71507e187d7a3472f4a5 100644
--- a/processed/oakink/mano/bimanual/unplug/task_info.json
+++ b/processed/oakink/mano/bimanual/unplug/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/mano/bimanual/wipe_board/task_info.json b/processed/oakink/mano/bimanual/wipe_board/task_info.json
index 1b645674ed9abec547834d25aa90f1d0e3588518..56942535c52ed2a83c13584719be06d538d1ec3d 100644
--- a/processed/oakink/mano/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/mano/bimanual/wipe_board/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/schunk/bimanual/complete_data.csv b/processed/oakink/schunk/bimanual/complete_data.csv
index 26dba0d9e1606561f71b549677a432a8081f0701..99e6357e57793e9117ab9d46f9b30198efcd28ec 100644
--- a/processed/oakink/schunk/bimanual/complete_data.csv
+++ b/processed/oakink/schunk/bimanual/complete_data.csv
@@ -1,36 +1,35 @@
 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,schunk,bimanual,mjwp,uncap_alcohol_burner,1,uncap_alcohol_burner/1,0.013771859756347735,0.09480607546166342,0.013771859756347735,0.0063862230827180224,0.09480607546166342,0.1575911860650824,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,2,uncap_alcohol_burner/2,0.01249145474756486,0.10841738343836974,0.01249145474756486,0.00596920023123063,0.10841738343836974,0.14809338167053088,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,3,uncap_alcohol_burner/3,0.015530719149094045,0.10340824225693791,0.015530719149094045,0.005982706427310847,0.10340824225693791,0.15369997423062115,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,uncap_alcohol_burner,4,uncap_alcohol_burner/4,0.014208541905617723,0.08906429583684566,0.014208541905617723,0.00776999877359261,0.08906429583684566,0.164816491036213,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,stir_beaker,0,stir_beaker/0,0.08919446972299624,0.8149139777178953,0.16478680416226232,0.013602135283730178,1.3700563609031928,0.2597715945325977,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,stir_beaker,1,stir_beaker/1,0.09359006752995101,0.8279209926730289,0.17487336289634547,0.01230677216355655,1.394814343741392,0.2610276416046657,False,0.1,0.5
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-oakink,schunk,bimanual,mjwp,stir_beaker,4,stir_beaker/4,0.08888996962379983,0.6016247073918676,0.15505511872400884,0.022724820523590813,0.9317245205439831,0.27152489423975196,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,unplug,0,unplug/0,0.010809078961743364,0.21182685505336404,0.018411922027067318,0.0032062358964194083,0.3212336457420875,0.10242006436464059,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,unplug,1,unplug/1,0.011406360662589462,0.20819451090862134,0.019526092396044456,0.003286628929134466,0.3119530954009998,0.10443592641624287,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,unplug,2,unplug/2,0.01113434238485819,0.20335911336828402,0.019269890737668043,0.0029987940320483396,0.2991309464043515,0.10758728033221655,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,unplug,3,unplug/3,0.013558096618283425,0.2378456861514307,0.023682128317182246,0.0034340649193846033,0.3734805121734265,0.10221086012943494,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,unplug,4,unplug/4,0.011653914013222962,0.22847894477940733,0.020437417857823555,0.002870410168622368,0.3439383229718813,0.11301956658693332,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,pick_spoon_bowl,0,pick_spoon_bowl/0,0.032211417951698684,0.5018915720466904,0.051912785590813935,0.012510050312583426,0.9374110841011423,0.06637205999223858,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pick_spoon_bowl,1,pick_spoon_bowl/1,0.023851465960528173,0.9527584869061451,0.03713362315095867,0.010569308770097681,1.7896584902932562,0.11585848351903387,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pick_spoon_bowl,2,pick_spoon_bowl/2,0.032098526630844865,0.5779201749581093,0.053236260022650216,0.010960793239039512,1.0607838611481226,0.09505648876809614,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pick_spoon_bowl,3,pick_spoon_bowl/3,0.03333890210610044,0.987621849441553,0.05691959224275213,0.009758211969448746,1.8799957317094638,0.09524796717364219,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pick_spoon_bowl,4,pick_spoon_bowl/4,0.026754159334486133,0.761033484888956,0.04188014083547511,0.011628177833497155,1.4282891857329318,0.09377778404498009,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,lift_board,0,lift_board/0,0.04680222445311524,0.1715179930525425,0.04680222445311524,3.642797320413697e-06,0.1715179930525425,4.6595656257334117e-05,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,lift_board,1,lift_board/1,0.07067658847935412,0.10240006761903454,0.07067658847935412,3.6427944983515003e-06,0.10240006761903454,4.659146860005277e-05,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,lift_board,2,lift_board/2,0.03595708998939099,0.2089540034091325,0.03595708998939099,3.6428001611956576e-06,0.2089540034091325,4.660211139858177e-05,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,lift_board,3,lift_board/3,0.09230407732339194,0.15579084464734658,0.09230407732339194,3.6428012531329375e-06,0.15579084464734658,4.6604159183665215e-05,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,lift_board,4,lift_board/4,0.031915503815627945,0.29471903538159877,0.031915503815627945,3.642786452729443e-06,0.29471903538159877,4.657634046295259e-05,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,pour_tube,0,pour_tube/0,0.08160048422457045,1.358421108501624,0.13935262405353643,0.023848344395604466,1.3216620704797695,1.3951801465234785,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pour_tube,1,pour_tube/1,0.09429170678367792,1.789054726408019,0.15462966883555077,0.033953744731805076,1.443949367462563,2.134160085353475,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pour_tube,2,pour_tube/2,0.0837802685043512,1.253508029137167,0.14039905889690313,0.027161478111799277,1.2099717722709424,1.2970442860033917,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pour_tube,3,pour_tube/3,0.08209479392198755,1.3779981996994823,0.137471006574789,0.026718581269186116,1.254893005008924,1.5011033943900407,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,pour_tube,4,pour_tube/4,0.08293154584667028,1.4188325695814912,0.13974187211630895,0.02612121957703162,1.5388843628181221,1.2987807763448602,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,wipe_board,0,wipe_board/0,0.025269596284383196,0.49822494084074426,0.025269596284383196,0.011585645661185294,0.49822494084074426,0.33324015078848945,True,0.1,0.5
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-oakink,schunk,bimanual,mjwp,wipe_board,2,wipe_board/2,0.024254216563401654,0.5527458568723373,0.024254216563401654,0.013865865085281337,0.5527458568723373,0.3310009205795843,False,0.1,0.5
-oakink,schunk,bimanual,mjwp,wipe_board,3,wipe_board/3,0.02146109626130383,0.4574938228778458,0.02146109626130383,0.010924390575180697,0.4574938228778458,0.3244990387145376,True,0.1,0.5
-oakink,schunk,bimanual,mjwp,wipe_board,4,wipe_board/4,0.021962237732767034,0.4755858963309893,0.021962237732767034,0.01121523247456431,0.4755858963309893,0.3188196299958455,True,0.1,0.5
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+oakink,schunk,bimanual,mjwp_act,uncap_alcohol_burner,4,uncap_alcohol_burner/4,0.046823370101013,0.1751035726937326,0.046823370101013,0.009465310804246454,0.1751035726937326,0.06487893058254288,True,0.1,0.5
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diff --git a/processed/oakink/schunk/bimanual/lift_board/0/config_act.yaml b/processed/oakink/schunk/bimanual/lift_board/0/config_act.yaml
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index 0000000000000000000000000000000000000000..8ddba43ae8fbd9093d21f30ce312e7434efa3d1c
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+    <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="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_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj" />
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj" />
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj" />
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj" />
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj" />
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj" />
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj" />
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj" />
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj" />
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj" />
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj" />
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj" />
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj" />
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj" />
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj" />
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj" />
+    <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@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>
+  <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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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" />
+    <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_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_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="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="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" />
+    <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="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_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" />
+    <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_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_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_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="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_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_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" />
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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_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" />
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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_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="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="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" />
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+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0" />
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+    <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" />
+    <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_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" />
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+    <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>
+    <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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/lift_board/task_info.json b/processed/oakink/schunk/bimanual/lift_board/task_info.json
index 1608a4c9dae1af66231d95b24610302bca8b06ae..068cf085042652ca77c7c8846c13cc2e1e9dbd37 100644
--- a/processed/oakink/schunk/bimanual/lift_board/task_info.json
+++ b/processed/oakink/schunk/bimanual/lift_board/task_info.json
@@ -7,5 +7,7 @@
   "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
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex",
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/config_act.yaml b/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..351c36f09735be75e5fede1040608b9db8871c96
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 6960
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
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+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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_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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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_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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0" />
+    <pair geom1="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_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_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_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_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="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="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" />
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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="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" />
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+    <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="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_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" />
+    <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_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" />
+    <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_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" />
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+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0" />
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+    <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_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" />
+    <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_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="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="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" />
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+    <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_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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
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 b64848364de3b040c5a69f1c2e8855737c6db5e5..064cc90f36be6c1bfc35a6da83d4f8790a7f0db5 100644
--- a/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
@@ -5,8 +5,10 @@
   "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex",
   "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
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/schunk/bimanual/pour_tube/0/config_act.yaml b/processed/oakink/schunk/bimanual/pour_tube/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..967142cc728ead6cc5d1011c5a44ac9499ba1b5d
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/0/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/pour_tube/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 3204
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+save_video: true
+save_info: true
+save_rerun: false
+save_metrics: true
+save_config: true
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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="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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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="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" />
+    <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_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_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" />
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+    <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_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" />
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+    <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_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" />
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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" />
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+    <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" />
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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="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_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_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_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" />
+    <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="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_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" />
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+    <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_11" geom2="left_object_0" name="right_object_11_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_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" />
+    <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_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_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_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" />
+  </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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/pour_tube/task_info.json b/processed/oakink/schunk/bimanual/pour_tube/task_info.json
index 6d0fd38074e08394569f6404adec481eedb6e373..5ee48a7afaa56e46b2ee8f39d8ed49658a8e81c3 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/schunk/bimanual/pour_tube/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/config_act.yaml b/processed/oakink/schunk/bimanual/stir_beaker/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dfc3b323505350fccc12904971f77debbda457d7
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 2208
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+improvement_check_steps: 1
+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
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+rot_noise_scale: 0.01
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+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 3
+- 12
+- 15
+- 6
+- 9
+- 18
+- 27
+- 30
+- 21
+- 24
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 52
+- 53
+- 54
+left_pos_ctrl_ids:
+- 58
+- 59
+- 60
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+ctrl_steps: 10
+nq_obj: 12
+nq: 64
+nv: 64
+nu: 64
+npair: 720
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/0
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..765a73d25a02a25277ffd22ec1f3656ea83b25b1
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 282886
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_kinematic_act.npz b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
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--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/visualization_ik_act.mp4 b/processed/oakink/schunk/bimanual/stir_beaker/0/visualization_ik_act.mp4
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+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..9141612b2bed39af280b724414990f27073ed1e2
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/visualization_mjwp_act.mp4 b/processed/oakink/schunk/bimanual/stir_beaker/0/visualization_mjwp_act.mp4
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--- /dev/null
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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/schunk/bimanual/stir_beaker/1/config_act.yaml b/processed/oakink/schunk/bimanual/stir_beaker/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4e9666359fe41c7ec47c80a8725e83832e13dece
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/1/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/stir_beaker/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 2208
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
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+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- right_object_pos_x
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+- right_object_rot_x
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+save_config: true
+trace_dt: 0.02
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+- - right
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+  - pinky
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diff --git a/processed/oakink/schunk/bimanual/stir_beaker/1/trajectory_kinematic_act.npz b/processed/oakink/schunk/bimanual/stir_beaker/1/trajectory_kinematic_act.npz
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@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/schunk/bimanual/stir_beaker/2/config_act.yaml b/processed/oakink/schunk/bimanual/stir_beaker/2/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6a0df739b55b2eb0c9b49230f5450360c95eb891
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/2/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: schunk
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+- left_object_rot_x
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+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj" />
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj" />
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj" />
+    <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" />
+    <mesh name="left_3" file="objects/C11001/convex/3.obj" />
+    <mesh name="left_4" file="objects/C11001/convex/4.obj" />
+    <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>
+  <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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
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+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
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+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1.5 1.5 0.15 0 0" />
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+    <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="1.5 1.5 0.15 0 0" />
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+    <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="1.5 1.5 0.15 0 0" />
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+    <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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1.5 1.5 0.15 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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/task_info.json b/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
index 0691fa97c1ed1c08639695be3ac173e49ee6b93a..044176186d8f2ed70486ad0e293b7fd18ebda423 100644
--- a/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/schunk/bimanual/summary.csv b/processed/oakink/schunk/bimanual/summary.csv
index f9f722059e0f23f76fd9f07edbcd0d5d69bb41f9..85909ed65f6dd0beb0a853c7dcc7d9c77b0774e3 100644
--- a/processed/oakink/schunk/bimanual/summary.csv
+++ b/processed/oakink/schunk/bimanual/summary.csv
@@ -6,38 +6,37 @@ oakink,schunk,bimanual,mjwp,pick_spoon_bowl,1,0.0314639141283113,0.7674008891518
 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
+oakink,schunk,bimanual,mjwp_act,uncap_alcohol_burner,3,0.026153152756831274,0.5749314496130151,False,0.1,0.5,1,0,0.0,0.026153152756831274,0.0,0.5749314496130151,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,uncap_alcohol_burner,4,0.046823370101013,0.1751035726937326,True,0.1,0.5,1,1,1.0,0.046823370101013,0.0,0.1751035726937326,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,uncap_alcohol_burner,1,0.04950522594654349,0.19240311757891718,True,0.1,0.5,1,1,1.0,0.04950522594654349,0.0,0.19240311757891718,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,uncap_alcohol_burner,0,0.031124836114891884,0.37297980677219433,True,0.1,0.5,1,1,1.0,0.031124836114891884,0.0,0.37297980677219433,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,uncap_alcohol_burner,2,0.03628191044208058,0.162698141857392,True,0.1,0.5,1,1,1.0,0.03628191044208058,0.0,0.162698141857392,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,stir_beaker,3,0.09849561284802746,0.4974810357354529,True,0.1,0.5,1,1,1.0,0.09849561284802746,0.0,0.4974810357354529,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,stir_beaker,4,0.08985437810381543,0.6322183558705401,False,0.1,0.5,1,0,0.0,0.08985437810381543,0.0,0.6322183558705401,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,stir_beaker,1,0.1095478013477464,0.7961712671335213,False,0.1,0.5,1,0,0.0,0.1095478013477464,0.0,0.7961712671335213,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,stir_beaker,0,0.10485173648579892,0.5197433678006417,False,0.1,0.5,1,0,0.0,0.10485173648579892,0.0,0.5197433678006417,0.0,2026-02-02 16:10:53
+oakink,schunk,bimanual,mjwp_act,stir_beaker,2,0.10107138144114614,0.640417217605833,False,0.1,0.5,1,0,0.0,0.10107138144114614,0.0,0.640417217605833,0.0,2026-02-02 16:10:53
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diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/config_act.yaml b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5ee9d97c4cd101e0793646a9958115449083755f
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
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+max_sim_steps: 400
+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
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+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+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_act.npz b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz
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diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_ik_act.mp4 b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_ik_act.mp4
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+robot_type: schunk
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+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/../scene_act.xml
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diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/4/visualization_ik_act.mp4 b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/4/visualization_ik_act.mp4
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diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_act.xml b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_act.xml
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
+    <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="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_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj" />
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj" />
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj" />
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj" />
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj" />
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj" />
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj" />
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj" />
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj" />
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj" />
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj" />
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj" />
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj" />
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj" />
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj" />
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj" />
+    <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@0206@00001/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj" />
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.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>
+  <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" />
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
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+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
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+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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">
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+                <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" />
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+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
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+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 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_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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" />
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+                        </body>
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+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
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+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
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+                        <geom type="mesh" mesh="right_f42" />
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+                          <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="0.008 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" />
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+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
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+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 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_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
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+                        <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="0.008 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" />
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+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="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" />
+    <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_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_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="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="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_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_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" />
+    <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="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="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" />
+    <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_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_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_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="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_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="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="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" />
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+    <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="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="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" />
+    <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_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="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="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_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="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" />
+    <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="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="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" />
+    <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_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="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="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="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" />
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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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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>
+    <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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
index 56b546dbd397c4990fd727cdc64494c8a88a1aea..b2ccf7e2dc19c6c82a9ce3dae57deb28e3a13eec 100644
--- a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/schunk/bimanual/unplug/0/config_act.yaml b/processed/oakink/schunk/bimanual/unplug/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..40379a32439d5a384f5d84cf8516296852f1fc0f
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 564
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 3
+- 12
+- 15
+- 6
+- 9
+- 18
+- 27
+- 30
+- 21
+- 24
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 52
+- 53
+- 54
+left_pos_ctrl_ids:
+- 58
+- 59
+- 60
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 64
+nv: 64
+nu: 64
+npair: 801
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/0
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout_act.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bea9b8e4f64d452f9cf53509f72f225c91b73993
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ace805cfe81536ff882d69aa8f34783d372593e2d2dc9b171ee8121c713366a
+size 46854
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic_act.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8de7b49710f038d990c0139f75984391a6aa3d14
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a426f77e2374db478ecd9afa0cc5c47b15170dca9fb1e2447f27cc6b4a27c94e
+size 170572
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp_act.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2db1977954411cfc31f8537ce0a30283fdced293
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fecc9585518b2d6d80ba41f92ed164a89c0c696589604254bb4a56499e16d058
+size 677654
diff --git a/processed/oakink/schunk/bimanual/unplug/0/visualization_ik_act.mp4 b/processed/oakink/schunk/bimanual/unplug/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1a653ef4c6b054f2d808029daa0801c39c5ff53
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf5723cf3868efa6b11041a84b3b7bbb610738abca8b8f7910eb2dc20aefd231
+size 44807
diff --git a/processed/oakink/schunk/bimanual/unplug/0/visualization_init.mp4 b/processed/oakink/schunk/bimanual/unplug/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa1a6c0b3db078e3929f0bb4a086b9e184c0ae6f
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b690964a94b323a99f08b3d84ed748f0440c07ab752d43b3738076036ae0e41
+size 22400
diff --git a/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwp_act.mp4 b/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a5678b1798d1c05a3dc7747defefd936a0f76f8
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac26321afe773b60adb59412ac2d4907938ee411010d0ac05e656260e110d00
+size 274723
diff --git a/processed/oakink/schunk/bimanual/unplug/1/config_act.yaml b/processed/oakink/schunk/bimanual/unplug/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c78f55a1a781e04ca402105ff325daf5339f21b2
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/1/config_act.yaml
@@ -0,0 +1,186 @@
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 364
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
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+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
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+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 3
+- 12
+- 15
+- 6
+- 9
+- 18
+- 27
+- 30
+- 21
+- 24
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+- 0
+left_contact_indices:
+- 5
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+- 52
+- 53
+- 54
+left_pos_ctrl_ids:
+- 58
+- 59
+- 60
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
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+nv: 64
+nu: 64
+npair: 801
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/unplug/4
diff --git a/processed/oakink/schunk/bimanual/unplug/4/trajectory_kinematic_act.npz b/processed/oakink/schunk/bimanual/unplug/4/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8de7b49710f038d990c0139f75984391a6aa3d14
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/4/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/schunk/bimanual/unplug/4/trajectory_mjwp_act.npz b/processed/oakink/schunk/bimanual/unplug/4/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..274c4e8b12852a480e66afe8dd35613e8b879539
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/4/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/schunk/bimanual/unplug/4/visualization_ik_act.mp4 b/processed/oakink/schunk/bimanual/unplug/4/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1a653ef4c6b054f2d808029daa0801c39c5ff53
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/4/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/unplug/4/visualization_mjwp_act.mp4 b/processed/oakink/schunk/bimanual/unplug/4/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb0a49eede82239322f125f376d0aff6c7238520
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/4/visualization_mjwp_act.mp4
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/unplug/scene_act.xml b/processed/oakink/schunk/bimanual/unplug/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e766d85a3c3a1babe297adb25990a26fc1fdb09
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/scene_act.xml
@@ -0,0 +1,1375 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
+    <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="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_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj" />
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj" />
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj" />
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj" />
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj" />
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj" />
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj" />
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj" />
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj" />
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj" />
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj" />
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj" />
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj" />
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj" />
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj" />
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj" />
+    <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@0047@00002/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj" />
+    <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" />
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj" />
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj" />
+    <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>
+  <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" />
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
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+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
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+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
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+                          <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="0.008 0.0075" pos="0.0075 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_pinky_tip" pos="0.01 0.007 0" />
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0.007 0" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="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_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_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_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_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="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="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_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_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" />
+    <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="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" />
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+    <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" />
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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" />
+    <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_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="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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/unplug/scene_act_no_floor.xml b/processed/oakink/schunk/bimanual/unplug/scene_act_no_floor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1cf275ab3fb5efc6111f2659111f84d96b3b696a
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/scene_act_no_floor.xml
@@ -0,0 +1,1294 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
+    <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="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_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj" />
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj" />
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj" />
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj" />
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj" />
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj" />
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj" />
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj" />
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj" />
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj" />
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj" />
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj" />
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj" />
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj" />
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj" />
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj" />
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj" />
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj" />
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj" />
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj" />
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj" />
+    <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" />
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj" />
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj" />
+    <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" />
+  </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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_8" name="collision_hand_right_ring_2_left_object_8" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_8" name="collision_hand_right_pinky_2_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_8" name="collision_hand_left_pinky_2_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_8" name="collision_hand_left_middle_2_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_8" name="collision_hand_left_middle_2_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_8" name="collision_hand_left_middle_1_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_8" name="collision_hand_left_middle_0_left_object_8" friction="1.5 1.5 0.15 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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/unplug/task_info.json b/processed/oakink/schunk/bimanual/unplug/task_info.json
index 6716c224b9a3e1303744e83f69716848aa99dae9..95a22504c0422b7e82c017f00775d143744d5bf2 100644
--- a/processed/oakink/schunk/bimanual/unplug/task_info.json
+++ b/processed/oakink/schunk/bimanual/unplug/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/config_act.yaml b/processed/oakink/schunk/bimanual/wipe_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cb562336af816c1cd8e964d73515870fdce692d9
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: schunk
+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/schunk/bimanual/wipe_board/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 964
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 3
+- 12
+- 15
+- 6
+- 9
+- 18
+- 27
+- 30
+- 21
+- 24
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 52
+- 53
+- 54
+left_pos_ctrl_ids:
+- 58
+- 59
+- 60
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 64
+nv: 64
+nu: 64
+npair: 1210
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/0
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout_act.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d5438ab3de9572e6191d1379d014f5df69826d7c
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d142989a5e3d33628e70d43f91c81cb6bd45c85efb553781a4594325905ce67
+size 123654
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic_act.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..456683bd4891ace9bf286f5efde5c69fb981263a
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwp_act.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b30c2bcc11ca624d0d64a969ece612fd2f0d0586
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1765814
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/visualization_ik_act.mp4 b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..334526b9daa1f054245a3ea8412ae72654a9ca8e
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98d026bfdc586da888f4efe04bd816606ab875d6a9f7c1882dcd4ce0c086a460
+size 84084
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/visualization_init.mp4 b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb109a5bcb6937e996b069d4b63a7d33eb8a2908
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwp_act.mp4 b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0aaefd707eefba5f8125b38e17c189c5c8cecf6d
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/1/config_act.yaml b/processed/oakink/schunk/bimanual/wipe_board/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9608a04e6a2c05c71e48c3ad44bd626090443149
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: schunk
+embodiment_type: bimanual
+task: wipe_board
+seed: 1
+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_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 964
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 52
+- 53
+- 54
+- 58
+- 59
+- 60
+- 55
+- 56
+- 57
+- 61
+- 62
+- 63
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
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+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
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+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
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
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+rot_noise_scale: 0.01
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+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 3
+- 12
+- 15
+- 6
+- 9
+- 18
+- 27
+- 30
+- 21
+- 24
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 52
+- 53
+- 54
+left_pos_ctrl_ids:
+- 58
+- 59
+- 60
+contact_len: 10
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+nq: 64
+nv: 64
+nu: 64
+npair: 1210
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/schunk/bimanual/wipe_board/1
diff --git a/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_kinematic_act.npz b/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..456683bd4891ace9bf286f5efde5c69fb981263a
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a964ecef39bcd0f25007a4300fb22287d6dc2b678d4c30c639975f3b7d62e640
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_mjwp_act.npz b/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_mjwp_act.npz
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--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/1/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/4/visualization_mjwp_act.mp4 b/processed/oakink/schunk/bimanual/wipe_board/4/visualization_mjwp_act.mp4
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diff --git a/processed/oakink/schunk/bimanual/wipe_board/scene_act.xml b/processed/oakink/schunk/bimanual/wipe_board/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b0ee06f6d39daacf6111e45b95521ad39be288d8
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/scene_act.xml
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
+    <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="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_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj" />
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj" />
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj" />
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj" />
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj" />
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj" />
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj" />
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj" />
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj" />
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj" />
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj" />
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj" />
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj" />
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj" />
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj" />
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj" />
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj" />
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj" />
+    <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>
+  <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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_r" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="right_hand_q" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="right_hand_t" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_s" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <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" />
+                <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" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <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="0.016 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="0.012 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="0.012 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>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_ring_distal" pos="0.032 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_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="0.008 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>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                        <body name="left_hand_pinky_distal" pos="0.022 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_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="0.008 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>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <body name="left_hand_index_distal" pos="0.026 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_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="0.008 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>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_middle_distal" pos="0.032 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_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="0.008 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>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="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" />
+    <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_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_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="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="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" />
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+    <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" />
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+    <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" />
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+    <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" />
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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" />
+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
+    <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" />
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+    <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="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_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_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" />
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334" />
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395" />
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829" />
+    <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_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_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" />
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334" />
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395" />
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0" />
+    <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" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/wipe_board/task_info.json b/processed/oakink/schunk/bimanual/wipe_board/task_info.json
index d8a886a60da69f154bcc8f710fcd74d57fbff3a8..0c351e92f21b781c08d4cc19e4cc17c0a6de2086 100644
--- a/processed/oakink/schunk/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/schunk/bimanual/wipe_board/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/xhand/bimanual/complete_data.csv b/processed/oakink/xhand/bimanual/complete_data.csv
index 3d8fce74e25c264b0f46b6992b9e25216bb0a3ea..34363fa6d60aa216f396f55dab86ca2bec18c63d 100644
--- a/processed/oakink/xhand/bimanual/complete_data.csv
+++ b/processed/oakink/xhand/bimanual/complete_data.csv
@@ -1,36 +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/0,0.01788052669260608,0.2946698195048744,0.01788052669260608,0.0015544608223153563,0.2946698195048744,0.04305253481883763,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
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diff --git a/processed/oakink/xhand/bimanual/lift_board/0/config_act.yaml b/processed/oakink/xhand/bimanual/lift_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..98f04e4c28dd140e5a1692866adf77a95cdb63da
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/lift_board/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: lift_board
+seed: 0
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/lift_board/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/lift_board/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 904
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
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+robot_type: xhand
+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/xhand/bimanual/lift_board/0/../scene_act.xml
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+                      <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="0.04 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>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06" />
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 0.004 -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>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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" />
+    <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_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" />
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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_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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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" />
+    <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="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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/lift_board/task_info.json b/processed/oakink/xhand/bimanual/lift_board/task_info.json
index 6bee224b04874846a7c80b05eaac9935a70134a0..a7dd197a51338e943d7ccb8144109ddeb9b182de 100644
--- a/processed/oakink/xhand/bimanual/lift_board/task_info.json
+++ b/processed/oakink/xhand/bimanual/lift_board/task_info.json
@@ -7,6 +7,7 @@
   "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",
   "sim_dt": 0.01,
-  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
+  "act_sim_dt": 0.005
 }
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/config_act.yaml b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b71964b8f6df7b9dd185054ce6942067748682e8
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.1
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.2
+knot_dt: 0.1
+max_sim_steps: 6560
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
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+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
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+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
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+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
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+ref_steps: 4
+ctrl_steps: 20
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 725
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pick_spoon_bowl/0
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout_act.npz b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f8da5cd41c443be4c683293d84d2003d3ae905c
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c6c2c60b43912d8bc36038af2af980e40d13770
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_mjwp_act.npz b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_mjwp_act.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9384798
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_ik_act.mp4 b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44f75abc5801e5c7a56ed82d34ec88577b6cf142
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 855091
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_init.mp4 b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85fd24060d37a29cd67aef2a1a1b108add7e938f
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_mjwp_act.mp4 b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_mjwp_act.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/1/config_act.yaml b/processed/oakink/xhand/bimanual/pick_spoon_bowl/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9563270995b196b90bdcfe6b628fd6fe8f1b2960
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: pick_spoon_bowl
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.1
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.2
+knot_dt: 0.1
+max_sim_steps: 6560
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
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+- right_object_pos_x
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
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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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+- 50
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+- 12
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+  - thumb
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/pick_spoon_bowl/1
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/1/trajectory_kinematic_act.npz b/processed/oakink/xhand/bimanual/pick_spoon_bowl/1/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c6c2c60b43912d8bc36038af2af980e40d13770
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/1/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/2/config_act.yaml b/processed/oakink/xhand/bimanual/pick_spoon_bowl/2/config_act.yaml
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index 0000000000000000000000000000000000000000..3c9deb17eca10dfd78ef323d4cca4e56a062e4f6
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/2/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/pick_spoon_bowl/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic_act.npz
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+                  <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>
@@ -123,16 +123,16 @@
                     <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>
@@ -140,48 +140,48 @@
                   <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>
@@ -210,27 +210,27 @@
                 <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>
@@ -242,16 +242,16 @@
                     <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>
@@ -259,48 +259,48 @@
                   <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>
@@ -324,12 +324,12 @@
       <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="0.0164644 -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"/>
+      <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_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"/>
@@ -374,12 +374,12 @@
       <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="-0.0633333 -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"/>
+      <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_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"/>
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_act.xml b/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b1cfcedc61022bb779c66344170b0fa103eece2f
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_act.xml
@@ -0,0 +1,1199 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
+    <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="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_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL" />
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL" />
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <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" 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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06" />
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 0.004 -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>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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_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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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_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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0" />
+    <pair geom1="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" />
+    <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_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_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_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_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0" />
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+    <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" />
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+    <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" />
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+    <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" />
+    <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>
+    <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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_eq.xml b/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_eq.xml
index 07570864318c9756dc478a917bed4f0b4e21d55d..c032ce502550a5b3b270d9dd306b9c05d5646a3c 100644
--- a/processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/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>
 
@@ -91,27 +91,27 @@
                 <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>
@@ -123,16 +123,16 @@
                     <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>
@@ -140,48 +140,48 @@
                   <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>
@@ -210,27 +210,27 @@
                 <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>
@@ -242,16 +242,16 @@
                     <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>
@@ -259,48 +259,48 @@
                   <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>
@@ -324,12 +324,12 @@
       <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="0.0164644 -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"/>
+      <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_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"/>
@@ -374,12 +374,12 @@
       <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="-0.0633333 -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"/>
+      <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_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"/>
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json
index cda3cbc2153f5a24ae003470754d48d02485c6d9..4381679db0338d1b54ba6d437a91eb3533a956cf 100644
--- a/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json
@@ -5,8 +5,10 @@
   "embodiment_type": "bimanual",
   "data_id": 0,
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex",
   "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
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/xhand/bimanual/pour_tube/0/config_act.yaml b/processed/oakink/xhand/bimanual/pour_tube/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..72786aaf061afa7acb4acff4c9dd4750c62e6e13
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: pour_tube
+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/pour_tube/0/../scene_act.xml
+data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.1
+knot_dt: 0.1
+max_sim_steps: 2004
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 0
+init_pos_actuator_bias: 0
+init_rot_actuator_gain: 0
+init_rot_actuator_bias: 0
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.01
+pos_noise_scale: 0.001
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 20
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 854
+beta_traj: 0.9630748444263257
+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/0
diff --git a/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_ikrollout_act.npz b/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d8c4f911c598ac2690b9f42f9a39fd8052ab0519
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1092796d6a4d64c95255199f6e8e64cdbc1ab52d7f21e7ac98706b57a4521b4
+size 192646
diff --git a/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_kinematic_act.npz b/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6d2c39924a1a635ffcba37b0a2e1774a204f69a
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3309967aed791083bb3592b7de95726490522a58d8c5a3a69f7fefee01e4c697
+size 739148
diff --git a/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_mjwp_act.npz b/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97733a2b2e3c4c066773e4e21bb3d4cd11d66e6a
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a370d5ee8dc70fa130c8a79eea568a1886ed93ab64682451b58ccb0fd4b1305
+size 4072294
diff --git a/processed/oakink/xhand/bimanual/pour_tube/0/visualization_ik_act.mp4 b/processed/oakink/xhand/bimanual/pour_tube/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c1e24256e981771d31ac1245b446db4bbde3397
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788732f7fffbf9190bfbf9d2cfcfff8a39cbe204a3aaec733c84872c548594f4
+size 250010
diff --git a/processed/oakink/xhand/bimanual/pour_tube/0/visualization_init.mp4 b/processed/oakink/xhand/bimanual/pour_tube/0/visualization_init.mp4
new file mode 100644
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diff --git a/processed/oakink/xhand/bimanual/pour_tube/4/config_act.yaml b/processed/oakink/xhand/bimanual/pour_tube/4/config_act.yaml
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+robot_type: xhand
+embodiment_type: bimanual
+task: pour_tube
+seed: 4
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 4
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
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+max_sim_steps: 3124
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
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+- 0.005
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+- -0.005
+- 0.005
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+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- right_object_pos_y
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+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
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+- - right
+  - middle
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+- - right
+  - pinky
+- - left
+  - thumb
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+  - index
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+  - pinky
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+output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/oakink/xhand/bimanual/pour_tube/4
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+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06" />
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 0.004 -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>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10" />
+      <geom name="right_object_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_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="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" />
+    <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_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_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" />
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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_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_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" />
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+    <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" />
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+    <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_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" />
+    <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_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" />
+    <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_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" />
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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" />
+    <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="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_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_11" geom2="left_object_0" name="right_object_11_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_1" name="right_object_11_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_2" name="right_object_11_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_3" name="right_object_11_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_4" name="right_object_11_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_5" name="right_object_11_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_6" name="right_object_11_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_11" geom2="left_object_7" name="right_object_11_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_0" name="right_object_12_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_1" name="right_object_12_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_2" name="right_object_12_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_3" name="right_object_12_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_4" name="right_object_12_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_5" name="right_object_12_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_6" name="right_object_12_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_12" geom2="left_object_7" name="right_object_12_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_0" name="right_object_13_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_1" name="right_object_13_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_2" name="right_object_13_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_3" name="right_object_13_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_4" name="right_object_13_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_5" name="right_object_13_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_6" name="right_object_13_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_13" geom2="left_object_7" name="right_object_13_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_0" name="right_object_14_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_1" name="right_object_14_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_2" name="right_object_14_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_3" name="right_object_14_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_4" name="right_object_14_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_5" name="right_object_14_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_6" name="right_object_14_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_14" geom2="left_object_7" name="right_object_14_left_object_7" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_0" name="right_object_15_left_object_0" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_1" name="right_object_15_left_object_1" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_2" name="right_object_15_left_object_2" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_3" name="right_object_15_left_object_3" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_4" name="right_object_15_left_object_4" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_5" name="right_object_15_left_object_5" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_6" name="right_object_15_left_object_6" friction="0.01 0.01 0.0001 0 0" />
+    <pair geom1="right_object_15" geom2="left_object_7" name="right_object_15_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" />
+    <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_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_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_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" />
+  </contact>
+  <actuator>
+    <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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/pour_tube/task_info.json b/processed/oakink/xhand/bimanual/pour_tube/task_info.json
index 9bd8a6777a3bf33ba849f570710b6987f97ec91b..cb2641ca86a93d6bb02f579eff526c01c15b3570 100644
--- a/processed/oakink/xhand/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/xhand/bimanual/pour_tube/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/config_act.yaml b/processed/oakink/xhand/bimanual/stir_beaker/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..11222b129900a444ab9860d648fbfa6d3aa960e2
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/stir_beaker/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 2188
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 657
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/stir_beaker/0
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a300d0c4c03e2655e9d59f1ae537e1c03e7d9046
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6844ec5ed45a39cb219865ab1ad5f74bc1dc3ca3563dd3ae6af807c5ed21c03a
+size 210310
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic_act.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7b2c7345a34fe86a2cd6ced853e0e6f3869a47d
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 806860
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwp_act.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a01e5c0816cbb560e0b6a2099d97257cff8bf578
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_ik_act.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd082a363d674007367098aec3a9bf76742e2a12
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 315578
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_init.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b300c964de04259163dfb361d8363ae4d2876e0
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwp_act.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwp_act.mp4
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index 0000000000000000000000000000000000000000..e29d04de122d4348598411f16bfa8eff75227f33
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+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/1/config_act.yaml b/processed/oakink/xhand/bimanual/stir_beaker/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..42c796234db3bd2e174c156502cb7b375e6274e4
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/stir_beaker/1/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/stir_beaker/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 2188
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
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+terminate_resample: false
+object_pos_threshold: 0.1
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+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
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+rot_noise_scale: 0.01
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+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
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+ctrl_steps: 10
+nq_obj: 12
+nq: 48
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+npair: 657
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/stir_beaker/1
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/1/trajectory_kinematic_act.npz b/processed/oakink/xhand/bimanual/stir_beaker/1/trajectory_kinematic_act.npz
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/1/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/1/trajectory_mjwp_act.npz b/processed/oakink/xhand/bimanual/stir_beaker/1/trajectory_mjwp_act.npz
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@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/1/visualization_ik_act.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/1/visualization_ik_act.mp4
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+++ b/processed/oakink/xhand/bimanual/stir_beaker/1/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/1/visualization_mjwp_act.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/1/visualization_mjwp_act.mp4
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/1/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/2/config_act.yaml b/processed/oakink/xhand/bimanual/stir_beaker/2/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ce25563893d14cbcdb0debaddbad3cb9b17238ee
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/2/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: stir_beaker
+seed: 2
+dataset_dir: example_datasets
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/scene_act.xml
@@ -0,0 +1,1127 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
+    <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="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_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL" />
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL" />
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <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" 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" />
+    <mesh name="left_3" file="objects/C11001/convex/3.obj" />
+    <mesh name="left_4" file="objects/C11001/convex/4.obj" />
+    <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>
+  <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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06" />
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 0.004 -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>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
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+    <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" />
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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" />
+    <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" />
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+    <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" />
+    <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" />
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+    <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" />
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+    <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" />
+    <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_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_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" />
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+    <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="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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/task_info.json b/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
index fe72dfe3a3a07ea4c5a3ac848b23c748b42e5b23..31f28fa287861a7fb6b6ec54df43eada1fa0e393 100644
--- a/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/xhand/bimanual/summary.csv b/processed/oakink/xhand/bimanual/summary.csv
index 4d94618bcbff12c798e746effbf07d596b1402c6..206b8b32fac712d675ede329d1048d1ae3f16266 100644
--- a/processed/oakink/xhand/bimanual/summary.csv
+++ b/processed/oakink/xhand/bimanual/summary.csv
@@ -6,38 +6,38 @@ oakink,xhand,bimanual,mjwp,pick_spoon_bowl,0,0.0374413101317147,0.33958579721898
 oakink,xhand,bimanual,mjwp,lift_board,0,0.0270774912026965,0.1780614311370599,True,0.1,0.6,1,1,1.0,0.0270774912026965,0.0,0.1780614311370599,0.0,2026-01-28 08:24:38
 oakink,xhand,bimanual,mjwp,pour_tube,0,0.0237541903729011,0.9822148594698836,False,0.1,0.6,1,0,0.0,0.0237541903729011,0.0,0.9822148594698836,0.0,2026-01-28 08:24:38
 oakink,xhand,bimanual,mjwp,wipe_board,0,0.0265415283209369,0.3769943538704332,True,0.1,0.6,1,1,1.0,0.0265415283209369,0.0,0.3769943538704332,0.0,2026-01-28 08:24:38
-oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,0,0.01788052669260608,0.2946698195048744,True,0.1,0.5,1,1,1.0,0.01788052669260608,0.0,0.2946698195048744,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,1,0.05412542559720554,0.46231226484762244,True,0.1,0.5,1,1,1.0,0.05412542559720554,0.0,0.46231226484762244,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,2,0.056910011483909013,0.4711140456539424,True,0.1,0.5,1,1,1.0,0.056910011483909013,0.0,0.4711140456539424,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,3,0.05160082305966632,0.39692420448780674,True,0.1,0.5,1,1,1.0,0.05160082305966632,0.0,0.39692420448780674,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,4,0.04998678217570974,0.3070390198032347,True,0.1,0.5,1,1,1.0,0.04998678217570974,0.0,0.3070390198032347,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,stir_beaker,0,0.091288368868513,0.900504692517306,False,0.1,0.5,1,0,0.0,0.091288368868513,0.0,0.900504692517306,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,stir_beaker,1,0.03330642116778154,0.5499943186453173,False,0.1,0.5,1,0,0.0,0.03330642116778154,0.0,0.5499943186453173,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,stir_beaker,2,0.0932978591566164,0.7601525734588734,False,0.1,0.5,1,0,0.0,0.0932978591566164,0.0,0.7601525734588734,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,stir_beaker,3,0.10097256965803633,0.8771463587267303,False,0.1,0.5,1,0,0.0,0.10097256965803633,0.0,0.8771463587267303,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,stir_beaker,4,0.087176396035729,0.8354910975202596,False,0.1,0.5,1,0,0.0,0.087176396035729,0.0,0.8354910975202596,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,unplug,0,0.009501946190046785,0.21887115369828727,True,0.1,0.5,1,1,1.0,0.009501946190046785,0.0,0.21887115369828727,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,unplug,1,0.011592331378979035,0.2005817985050471,True,0.1,0.5,1,1,1.0,0.011592331378979035,0.0,0.2005817985050471,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,unplug,2,0.011083000598580733,0.2141642635858906,True,0.1,0.5,1,1,1.0,0.011083000598580733,0.0,0.2141642635858906,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,unplug,3,0.012325015799538928,0.19660707530105945,True,0.1,0.5,1,1,1.0,0.012325015799538928,0.0,0.19660707530105945,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,unplug,4,0.02600341817224623,0.2491791486653102,True,0.1,0.5,1,1,1.0,0.02600341817224623,0.0,0.2491791486653102,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pick_spoon_bowl,0,0.03744131013171472,0.33958579721898646,True,0.1,0.5,1,1,1.0,0.03744131013171472,0.0,0.33958579721898646,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pick_spoon_bowl,1,0.023755394450070223,0.40974884229091235,True,0.1,0.5,1,1,1.0,0.023755394450070223,0.0,0.40974884229091235,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pick_spoon_bowl,2,0.024911909464553066,0.34082884769829364,True,0.1,0.5,1,1,1.0,0.024911909464553066,0.0,0.34082884769829364,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pick_spoon_bowl,3,0.024078896698392024,0.33630455844739604,True,0.1,0.5,1,1,1.0,0.024078896698392024,0.0,0.33630455844739604,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pick_spoon_bowl,4,0.023035086855144066,0.4589287282578948,True,0.1,0.5,1,1,1.0,0.023035086855144066,0.0,0.4589287282578948,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,lift_board,0,0.027077491202696563,0.1780614311370599,True,0.1,0.5,1,1,1.0,0.027077491202696563,0.0,0.1780614311370599,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,lift_board,1,0.014950278051223157,0.156243089655073,True,0.1,0.5,1,1,1.0,0.014950278051223157,0.0,0.156243089655073,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,lift_board,2,0.014275318403453965,0.16276956083749974,True,0.1,0.5,1,1,1.0,0.014275318403453965,0.0,0.16276956083749974,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,lift_board,3,0.015045297498040353,0.16697544176012885,True,0.1,0.5,1,1,1.0,0.015045297498040353,0.0,0.16697544176012885,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,lift_board,4,0.013385274267853445,0.15840398351557927,True,0.1,0.5,1,1,1.0,0.013385274267853445,0.0,0.15840398351557927,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pour_tube,0,0.023754190372901107,0.9822148594698837,False,0.1,0.5,1,0,0.0,0.023754190372901107,0.0,0.9822148594698837,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pour_tube,1,0.07355709026780821,2.4370148994947067,False,0.1,0.5,1,0,0.0,0.07355709026780821,0.0,2.4370148994947067,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pour_tube,2,0.07816411671909626,1.5800910228914349,False,0.1,0.5,1,0,0.0,0.07816411671909626,0.0,1.5800910228914349,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pour_tube,3,0.07847105787616064,1.4350086713566794,False,0.1,0.5,1,0,0.0,0.07847105787616064,0.0,1.4350086713566794,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,pour_tube,4,0.02107704897976362,1.855769220367267,False,0.1,0.5,1,0,0.0,0.02107704897976362,0.0,1.855769220367267,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,wipe_board,0,0.02654152832093697,0.3769943538704332,True,0.1,0.5,1,1,1.0,0.02654152832093697,0.0,0.3769943538704332,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,wipe_board,1,0.031253747850466,0.3793107731926982,True,0.1,0.5,1,1,1.0,0.031253747850466,0.0,0.3793107731926982,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,wipe_board,2,0.026431764763984057,0.3711319020701048,True,0.1,0.5,1,1,1.0,0.026431764763984057,0.0,0.3711319020701048,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,wipe_board,3,0.02619114302459221,0.3715603839662411,True,0.1,0.5,1,1,1.0,0.02619114302459221,0.0,0.3715603839662411,0.0,2026-01-28 15:03:57
-oakink,xhand,bimanual,mjwp,wipe_board,4,0.021335819876090623,0.3805101873884582,True,0.1,0.5,1,1,1.0,0.021335819876090623,0.0,0.3805101873884582,0.0,2026-01-28 15:03:57
+oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,3,0.03490837733993853,0.23286556329141256,True,0.1,0.5,1,1,1.0,0.03490837733993853,0.0,0.23286556329141256,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,4,0.03261564722685308,0.20124486284969406,True,0.1,0.5,1,1,1.0,0.03261564722685308,0.0,0.20124486284969406,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,1,0.025229064267147643,0.17195358413505882,True,0.1,0.5,1,1,1.0,0.025229064267147643,0.0,0.17195358413505882,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,0,0.026641421510272757,0.14960224269189623,True,0.1,0.5,1,1,1.0,0.026641421510272757,0.0,0.14960224269189623,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,uncap_alcohol_burner,2,0.024843084801348714,0.18748882403758557,True,0.1,0.5,1,1,1.0,0.024843084801348714,0.0,0.18748882403758557,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,stir_beaker,3,0.0477079754168619,0.37601531690143875,True,0.1,0.5,1,1,1.0,0.0477079754168619,0.0,0.37601531690143875,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,stir_beaker,4,0.06295219118122103,0.37775710608795054,True,0.1,0.5,1,1,1.0,0.06295219118122103,0.0,0.37775710608795054,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,stir_beaker,1,0.03941870796166427,0.3947355557756453,True,0.1,0.5,1,1,1.0,0.03941870796166427,0.0,0.3947355557756453,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,stir_beaker,0,0.05222442973170042,0.3765053806455087,True,0.1,0.5,1,1,1.0,0.05222442973170042,0.0,0.3765053806455087,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,stir_beaker,2,0.04683053176744025,0.3669109587107586,True,0.1,0.5,1,1,1.0,0.04683053176744025,0.0,0.3669109587107586,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,unplug,3,0.026960271911723847,0.4798491171654977,True,0.1,0.5,1,1,1.0,0.026960271911723847,0.0,0.4798491171654977,0.0,2026-02-02 16:10:53
+oakink,xhand,bimanual,mjwp_act,unplug,4,0.033794087899110446,0.4495367214037654,True,0.1,0.5,1,1,1.0,0.033794087899110446,0.0,0.4495367214037654,0.0,2026-02-02 16:10:53
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diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/config_act.yaml b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/config_act.yaml
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index 0000000000000000000000000000000000000000..05cab4e51ed94cd567e4d54bdfc38dd552c2c7e6
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/uncap_alcohol_burner/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
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+max_sim_steps: 400
+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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+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
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+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
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+  - pinky
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+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0
diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout_act.npz
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diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/visualization_ik_act.mp4 b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/visualization_ik_act.mp4
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+robot_type: xhand
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+task: uncap_alcohol_burner
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+dataset_dir: example_datasets
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+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/uncap_alcohol_burner/1/../scene_act.xml
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diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/4/visualization_mjwp_act.mp4 b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/4/visualization_mjwp_act.mp4
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diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_act.xml b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_act.xml
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <site group="3" rgba="1 0 0 1" />
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
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+    <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" />
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+    <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" />
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+    <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="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_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL" />
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL" />
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <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" />
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+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj" />
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.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" />
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+    <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>
+  <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" />
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_link">
+                <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="0.04 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">
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+                  <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" />
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+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1" />
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+                    <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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="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" />
+    <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="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="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" />
+    <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="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" />
+    <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" />
+    <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_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_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_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="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" />
+    <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_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="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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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" />
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+    <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_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" />
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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="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" />
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+    <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" />
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+    <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="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="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" />
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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_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>
+    <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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
index 9f6d2808ecea543823a01e154248ae839a9e72b2..5b7822d2d0680d185d186e1db884a3d4031d5656 100644
--- a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/xhand/bimanual/unplug/0/config_act.yaml b/processed/oakink/xhand/bimanual/unplug/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f6e155e2e40d96f3506e68836c4bacbd0e68faed
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/unplug/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 564
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 80
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 10
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 657
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/unplug/0
diff --git a/processed/oakink/xhand/bimanual/unplug/0/trajectory_ikrollout_act.npz b/processed/oakink/xhand/bimanual/unplug/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3a4849784676c2ee60be03f06b6d4785fc92b843
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41463a898a1886ac49a53a6ab7e512bea61128a581b51719601602c1688829ee
+size 54406
diff --git a/processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic_act.npz b/processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bf12c6768109b542cdcc32b5fe5d25f99fe80e64
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 209228
diff --git a/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwp_act.npz b/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e7cf1777cbc96485e0aed47ac0492835a44273d
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:730d8d83c7d7d766c037b6db0319928d2cfc30787b06a9a5e6bec50bd79d749d
+size 821494
diff --git a/processed/oakink/xhand/bimanual/unplug/0/visualization_ik_act.mp4 b/processed/oakink/xhand/bimanual/unplug/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7070d38feada863b8ba3a15c88f0e9d25121534
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b175f8fb6300e6119578db29463a90ba2dae3d2acfe8049ad215240346bc053
+size 87293
diff --git a/processed/oakink/xhand/bimanual/unplug/0/visualization_init.mp4 b/processed/oakink/xhand/bimanual/unplug/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0c78f3db224d72959072cd67025b1729dc7507e
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b90a643f8aa14dbd733da36c56b8a5844aa2a0bc35145b4433a4d9699cfd84
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diff --git a/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwp_act.mp4 b/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..645b5c67c472c2e4727d3899407d8356f0973c85
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18238ae7fffdb7c8bd8390e0f3806d22c8590dfaaf930e0b75d3ee517dc93e10
+size 311778
diff --git a/processed/oakink/xhand/bimanual/unplug/1/config_act.yaml b/processed/oakink/xhand/bimanual/unplug/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6e32485e909f09b724b263633c07ffeda474e488
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/unplug/1/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/unplug/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.05
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.4
+knot_dt: 0.1
+max_sim_steps: 564
+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
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.02
+pos_noise_scale: 0.005
+rot_noise_scale: 0.01
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
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diff --git a/processed/oakink/xhand/bimanual/unplug/scene_act.xml b/processed/oakink/xhand/bimanual/unplug/scene_act.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3820974f972b7159b2de10bc3f636411ad353986
--- /dev/null
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <site group="3" rgba="1 0 0 1" />
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1" />
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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="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" />
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+    <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="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_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL" />
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL" />
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <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" file="objects/O02@0047@00002/convex/0.obj" />
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj" />
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj" />
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj" />
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj" />
+    <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" />
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj" />
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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" />
+  </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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_link">
+                <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="0.04 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">
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+                  <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" />
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+                  <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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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_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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0" />
+    <pair geom1="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_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_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_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="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_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" />
+    <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_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_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_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" />
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+    <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" />
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+    <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" />
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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_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" />
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+    <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" />
+    <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" />
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+    <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" />
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+    <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="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" />
+    <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_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" />
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+    <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="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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/unplug/task_info.json b/processed/oakink/xhand/bimanual/unplug/task_info.json
index d78aac20c345595b9c8391f5575877e08117bd52..ed32edbc66d8d1cfec69f075d9cf62bde80145fd 100644
--- a/processed/oakink/xhand/bimanual/unplug/task_info.json
+++ b/processed/oakink/xhand/bimanual/unplug/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
-}
\ No newline at end of file
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
+}
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/config_act.yaml b/processed/oakink/xhand/bimanual/wipe_board/0/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d2668a56047c86a32e6d2736579863b7f26d683c
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+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/xhand/bimanual/wipe_board/0/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.1
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.2
+knot_dt: 0.1
+max_sim_steps: 1364
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.01
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+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
+contact_order:
+- - right
+  - thumb
+- - right
+  - index
+- - right
+  - middle
+- - right
+  - ring
+- - right
+  - pinky
+- - left
+  - thumb
+- - left
+  - index
+- - left
+  - middle
+- - left
+  - ring
+- - left
+  - pinky
+hand_contact_site_ids:
+- 2
+- 5
+- 8
+- 11
+- 14
+- 18
+- 21
+- 24
+- 27
+- 30
+right_contact_indices:
+- 0
+left_contact_indices:
+- 5
+right_pos_ctrl_ids:
+- 36
+- 37
+- 38
+left_pos_ctrl_ids:
+- 42
+- 43
+- 44
+contact_len: 10
+horizon_steps: 40
+knot_steps: 20
+ref_steps: 4
+ctrl_steps: 20
+nq_obj: 12
+nq: 48
+nv: 48
+nu: 48
+npair: 986
+beta_traj: 0.9630748444263257
+output_dir: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/0
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout_act.npz b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80b4dd694f02e92aa1e17a39546ca87c3729806a
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afba642a25f3a42dd34ab56c023e6eadfb794cc3d1e7fa324378fd59dc2590f
+size 131206
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic_act.npz b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..08cb128a78501fc29a6c0c1434c94d9c2a100958
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_kinematic_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c8720d60d1829b3eafc43c842185f72beca49dc74ac0a9271402edd87ec798e
+size 503628
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_mjwp_act.npz b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_mjwp_act.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ec788a1425bdcc0763b3202562a02bd677a3316
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_mjwp_act.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e47ec63013c30dcdce9190ad604e6bb470752cfde59731b7ae07537cab55cb40
+size 1793446
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/visualization_ik_act.mp4 b/processed/oakink/xhand/bimanual/wipe_board/0/visualization_ik_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f28c6e57f7f8368c141eef67da6a63eaabeb8458
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/visualization_ik_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4448c82e62c6ab73f6bc7c50bd27c348e82c02041ab22771af76d0ba35dbb8
+size 156910
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/visualization_init.mp4 b/processed/oakink/xhand/bimanual/wipe_board/0/visualization_init.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8e082b4d6d4ae207d6f6a4ac4148e2429bcca62
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/visualization_init.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f48797db4ad3e39adcb91fb630dd42d23ee9186599e41e23ed3ededf3150061
+size 45984
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/visualization_mjwp_act.mp4 b/processed/oakink/xhand/bimanual/wipe_board/0/visualization_mjwp_act.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4949867c252f7c44daddb4c4e5592f6d0119501d
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/visualization_mjwp_act.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 761898
diff --git a/processed/oakink/xhand/bimanual/wipe_board/1/config_act.yaml b/processed/oakink/xhand/bimanual/wipe_board/1/config_act.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..96a136b2fb4d88b8cb431c6447be379ad608d66a
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/1/config_act.yaml
@@ -0,0 +1,186 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: wipe_board
+seed: 1
+dataset_dir: example_datasets
+dataset_name: oakink
+data_id: 1
+model_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/1/../scene_act.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/oakink/xhand/bimanual/wipe_board/1/trajectory_kinematic_act.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.005
+ctrl_dt: 0.1
+ref_dt: 0.02
+render_dt: 0.02
+horizon: 0.2
+knot_dt: 0.1
+max_sim_steps: 1364
+nconmax_per_env: 120
+njmax_per_env: 350
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: true
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 12
+object_actuator_ids:
+- 36
+- 37
+- 38
+- 42
+- 43
+- 44
+- 39
+- 40
+- 41
+- 45
+- 46
+- 47
+object_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.3
+init_rot_actuator_bias: 0.3
+guidance_decay_ratio: 0.8
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 32
+improvement_threshold: 0.0
+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: 1.0
+last_ctrl_noise_scale: 1.0
+final_noise_scale: 0.3
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.01
+pos_noise_scale: 0.01
+rot_noise_scale: 0.03
+base_pos_rew_scale: 0.3
+base_rot_rew_scale: 0.3
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 1.0
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: ''
+rerun_spawn: false
+save_video: true
+save_info: true
+save_rerun: false
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+  - index
+- - right
+  - middle
+- - right
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+  - pinky
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+  - thumb
+- - left
+  - index
+- - left
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+  - ring
+- - left
+  - pinky
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new file mode 100644
index 0000000000000000000000000000000000000000..6d4099bf646a18f954612f007fe8aaf6bdf95cbd
--- /dev/null
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <site group="3" rgba="1 0 0 1" />
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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" />
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+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
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+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL" />
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+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL" />
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+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <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_visual" file="objects/O02@0055@00002/visual.obj" />
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+  <worldbody>
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+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
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+      <body name="R_forearm_tz_link">
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+        <body name="R_forearm_roll_link">
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+            <body name="R_forearm_yaw_link">
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+                </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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_object_9" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_8" name="collision_hand_right_palm_0_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_9" name="collision_hand_right_palm_0_left_object_9" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
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+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_8" name="right_object_6_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_6" geom2="left_object_9" name="right_object_6_left_object_9" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_10" name="right_object_7_left_object_10" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_11" name="right_object_7_left_object_11" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_12" name="right_object_7_left_object_12" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_13" name="right_object_7_left_object_13" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_14" name="right_object_7_left_object_14" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_15" name="right_object_7_left_object_15" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_16" name="right_object_7_left_object_16" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_17" name="right_object_7_left_object_17" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_18" name="right_object_7_left_object_18" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_19" name="right_object_7_left_object_19" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_8" name="right_object_7_left_object_8" friction="0.015 0.015 0.00015 0 0" />
+    <pair geom1="right_object_7" geom2="left_object_9" name="right_object_7_left_object_9" friction="0.015 0.015 0.00015 0 0" />
+  </contact>
+  <actuator>
+    <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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/wipe_board/scene_act_no_floor.xml b/processed/oakink/xhand/bimanual/wipe_board/scene_act_no_floor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..90ed447aa9ad959613759018440e739a888e3a84
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/scene_act_no_floor.xml
@@ -0,0 +1,1316 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+  <default>
+    <joint armature="1" />
+    <geom contype="0" conaffinity="0" condim="1" density="800" />
+    <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="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" />
+    <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="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_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL" />
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL" />
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <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_visual" file="objects/O02@0055@00002/visual.obj" />
+    <mesh name="left_visual" 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" />
+  </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" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
+                  <inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06" />
+                  <joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link" />
+                  <body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 0.004 -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>
+                <body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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="0.012 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="0.01 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 0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <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="0.04 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="0.015 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="0.02 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="0.04 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>
+                <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899">
+                  <inertial pos="-0.000134545 -0.000675884 0.00420851" quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" />
+                  <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175" />
+                  <geom name="left_index_bend_visual" type="mesh" group="1" density="0" rgba="0.988235 0.737255 0.517647 1" mesh="left_hand_index_bend_link" />
+                  <body name="left_hand_index_rota_link1" pos="0 0 -0.0178">
+                    <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="0.012 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="0.01 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 -0.004 -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>
+                <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082">
+                  <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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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="0.012 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="0.01 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 -0.004 -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>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="right_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="left_object">
+      <joint name="left_object_pos_x" type="slide" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_y" type="slide" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_pos_z" type="slide" axis="0 0 1" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_x" type="hinge" axis="1 0 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_y" type="hinge" axis="0 1 0" armature="0.0001" frictionloss="0.0001" />
+      <joint name="left_object_rot_z" type="hinge" axis="0 0 1" 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" 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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </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" />
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
+    </body>
+  </worldbody>
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_10" name="floor_left_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_11" name="floor_left_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_12" name="floor_left_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_13" name="floor_left_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_14" name="floor_left_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_15" name="floor_left_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_16" name="floor_left_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_17" name="floor_left_object_17" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_18" name="floor_left_object_18" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_19" name="floor_left_object_19" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_8" name="floor_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="floor" geom2="left_object_9" name="floor_left_object_9" friction="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 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="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_10" name="collision_hand_right_palm_0_left_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_11" name="collision_hand_right_palm_0_left_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_12" name="collision_hand_right_palm_0_left_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_13" name="collision_hand_right_palm_0_left_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_14" name="collision_hand_right_palm_0_left_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_15" name="collision_hand_right_palm_0_left_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_16" name="collision_hand_right_palm_0_left_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_17" name="collision_hand_right_palm_0_left_object_17" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_18" name="collision_hand_right_palm_0_left_object_18" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_19" name="collision_hand_right_palm_0_left_object_19" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_15" name="collision_hand_left_pinky_1_left_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_16" name="collision_hand_left_pinky_1_left_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_17" name="collision_hand_left_pinky_1_left_object_17" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_18" name="collision_hand_left_pinky_1_left_object_18" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_19" name="collision_hand_left_pinky_1_left_object_19" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_8" name="collision_hand_left_pinky_1_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_9" name="collision_hand_left_pinky_1_left_object_9" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_10" name="collision_hand_left_pinky_0_left_object_10" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_11" name="collision_hand_left_pinky_0_left_object_11" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_12" name="collision_hand_left_pinky_0_left_object_12" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_13" name="collision_hand_left_pinky_0_left_object_13" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_14" name="collision_hand_left_pinky_0_left_object_14" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_15" name="collision_hand_left_pinky_0_left_object_15" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_16" name="collision_hand_left_pinky_0_left_object_16" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_17" name="collision_hand_left_pinky_0_left_object_17" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_18" name="collision_hand_left_pinky_0_left_object_18" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_19" name="collision_hand_left_pinky_0_left_object_19" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_8" name="collision_hand_left_pinky_0_left_object_8" friction="1.5 1.5 0.15 0 0" />
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_9" name="collision_hand_left_pinky_0_left_object_9" friction="1.5 1.5 0.15 0 0" />
+  </contact>
+  <actuator>
+    <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="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83" />
+    <general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94" />
+    <general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <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="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" ctrlrange="0 1.83" />
+    <general name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57" />
+    <general name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" ctrlrange="-0.17 1.83" />
+    <general name="left_index_bend_position" joint="left_hand_index_bend_joint" ctrlrange="-0.175 0.175" />
+    <general name="left_index_joint1_position" joint="left_hand_index_joint1" ctrlrange="0 1.92" />
+    <general name="left_index_joint2_position" joint="left_hand_index_joint2" ctrlrange="0 1.92" />
+    <general name="left_middle_joint1_position" joint="left_hand_mid_joint1" ctrlrange="0 1.92" />
+    <general name="left_middle_joint2_position" joint="left_hand_mid_joint2" ctrlrange="0 1.92" />
+    <general name="left_ring_joint1_position" joint="left_hand_ring_joint1" ctrlrange="0 1.92" />
+    <general name="left_ring_joint2_position" joint="left_hand_ring_joint2" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" ctrlrange="0 1.92" />
+    <general name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" ctrlrange="0 1.92" />
+    <position name="right_object_pos_x" joint="right_object_pos_x" kp="0" kv="0" />
+    <position name="right_object_pos_y" joint="right_object_pos_y" kp="0" kv="0" />
+    <position name="right_object_pos_z" joint="right_object_pos_z" kp="0" kv="0" />
+    <position name="right_object_rot_x" joint="right_object_rot_x" kp="0" kv="0" />
+    <position name="right_object_rot_y" joint="right_object_rot_y" kp="0" kv="0" />
+    <position name="right_object_rot_z" joint="right_object_rot_z" kp="0" kv="0" />
+    <position name="left_object_pos_x" joint="left_object_pos_x" kp="0" kv="0" />
+    <position name="left_object_pos_y" joint="left_object_pos_y" kp="0" kv="0" />
+    <position name="left_object_pos_z" joint="left_object_pos_z" kp="0" kv="0" />
+    <position name="left_object_rot_x" joint="left_object_rot_x" kp="0" kv="0" />
+    <position name="left_object_rot_y" joint="left_object_rot_y" kp="0" kv="0" />
+    <position name="left_object_rot_z" joint="left_object_rot_z" kp="0" kv="0" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/wipe_board/task_info.json b/processed/oakink/xhand/bimanual/wipe_board/task_info.json
index 176c941ec33332062a412cdb960f164f77868b1f..0690e0a21919579cd987100ee08b9671dcaef66e 100644
--- a/processed/oakink/xhand/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/xhand/bimanual/wipe_board/task_info.json
@@ -7,5 +7,8 @@
   "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
   "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
   "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex",
+  "ref_dt": 0.02,
+  "sim_dt": 0.01,
+  "act_sim_dt": 0.005
 }
\ No newline at end of file