diff --git a/.gitignore b/.gitignore
index 4d41054e49d55b0a6bcc42f0cde5b4eeacfca5b6..7031e8d21b8caaaf5234a95204094f0e4f8e7769 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,8 +1,20 @@
 sharpa/
-!processed/oakink/assets/robots/sharpa/
+sharpa
 !processed/oakinkv2/sharpa/
 xhand_pro/
 processed/gigahand/assets/robots/xhand/MJMODEL.TXT
 */assets/robots/xhand/MJMODEL.TXT
 .claude/
-MJMODEL.TXT
\ No newline at end of file
+MJMODEL.TXT
+
+# logs
+*.log
+_logs/
+
+# caches
+__pycache__/
+*.pyc
+.cache/
+wandb/
+outputs/
+*.tmp
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/0.obj b/processed/arcticv2/assets/objects/box_bottom/convex/0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24678f6f781cb0d65827238ba49086d88cf3e821
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b635ff8fed5236cb2161c45220a8044a722e88977e863f4df40093aed7b9f6
+size 9370
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/1.obj b/processed/arcticv2/assets/objects/box_bottom/convex/1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb46c2e4539ba94261688ac930cecf5dc7414c7
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fbe6cda945ec7ee4a361a70489a7700d92f572542163ea8ed757ad0d4dfc68f
+size 7528
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/10.obj b/processed/arcticv2/assets/objects/box_bottom/convex/10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f93a929fd973c49e274cfb9f5b518b28eb6f5a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202a1a56af3d1c265b645045d8244d5ce847fe597f6d9d1453d554de9d6419bd
+size 2843
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/11.obj b/processed/arcticv2/assets/objects/box_bottom/convex/11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da58bc0342e544c3d8283536e8a976960ef79f7
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee415b9e3b115166a35f70a3f4db58137b309aca69ada95e5587ba357accbdb3
+size 5230
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/12.obj b/processed/arcticv2/assets/objects/box_bottom/convex/12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b0c2e7390d11651ee63fa082a976d20b5adbec1
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/12.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa5740a181880e49e9bd7f5e376d492cc38a7c30e3b3e0ad5b6806e9e5817559
+size 9184
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/13.obj b/processed/arcticv2/assets/objects/box_bottom/convex/13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2fd4324e41b13c8db63fba8bf8696e88dd24f4
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/13.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05230b75546dcbb53f68e51d561f79ed0336b240500785d1d93450ce68e707e2
+size 4099
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/14.obj b/processed/arcticv2/assets/objects/box_bottom/convex/14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2591a4d15a2a0cc2c75a24d034ee3580c9def6ae
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/14.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d14a8a96d2d8db97aa4c65354b4b935542aae2e25072e8b3a9fdf42de2ea8f9a
+size 3871
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/15.obj b/processed/arcticv2/assets/objects/box_bottom/convex/15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc0a9d50a809449d8dc4dbb0050926c8e85d52c
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/15.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cff323db20cac74b3d4085539e8506894bf0e48d67643d5b42d0afe204e5b7f
+size 4732
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/16.obj b/processed/arcticv2/assets/objects/box_bottom/convex/16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe53043a35d0e6bf682cd3f6283ca344a87f0ca
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/16.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:912db4dfdf0ea7b830db6ba01a727c757d51ced76c23b7da49f309aeb561ea1d
+size 1510
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/17.obj b/processed/arcticv2/assets/objects/box_bottom/convex/17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8daada886d4294bc18fb5a4eeb4f9aa94285ff
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/17.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28441666185b5bb8e13f4471a3a687c545f64ea68d4c08964a8c7c90ab46d689
+size 1253
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/18.obj b/processed/arcticv2/assets/objects/box_bottom/convex/18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818a2c5e1cae371713209a55b962be114d7982a7
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/18.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25408d023c0783267e2ef8f2b09fdf180f58163b7d4de04f6bbb6616c73f3438
+size 12137
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/19.obj b/processed/arcticv2/assets/objects/box_bottom/convex/19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf2d98ee444a16ad7bf680b2503ed69cc313b37d
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/19.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d34cc550cb0621ccc2b707061649c972b8e1ea367a20a344df4689ddc1d15ee
+size 4212
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/2.obj b/processed/arcticv2/assets/objects/box_bottom/convex/2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2360302d2be0c905e1ea99c17df637fdd21ec6fc
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6533e9a18bf9fa4a4cab5a22835c5f83977e5dc682b5206d6d24953babea88ac
+size 7346
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/20.obj b/processed/arcticv2/assets/objects/box_bottom/convex/20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..607cf32a7ea1480576fb3f6beeb4d1f27ae576a0
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/20.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1173afc0010abacda3aef18a9bc87561c3324fb72f316e51a20060266e46ba9
+size 6145
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/21.obj b/processed/arcticv2/assets/objects/box_bottom/convex/21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d4a7f2d4ba98ca59b4a83377baea2bae7f8a03
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/21.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66571f97df940644c6eafbc7f4fb7f72920eeda26520ca5b405bad4364a7aac4
+size 9477
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/22.obj b/processed/arcticv2/assets/objects/box_bottom/convex/22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c810ef2d9ed79a47debb64d9f87ddbd481de071a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/22.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c7e02eae23ceaecec2fb71e996c8a9a2e3a681df1b7b6d8504f2c5fbca3831d
+size 5803
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/23.obj b/processed/arcticv2/assets/objects/box_bottom/convex/23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38718926cc96cee1aed8d58339cab288c73cd651
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/23.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e102d56720e61f52e10401516375d3c38452a5a1f8ed0646350cf4a88d3e8928
+size 3707
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/24.obj b/processed/arcticv2/assets/objects/box_bottom/convex/24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd024c11f6757e970a240a94d56f725fbca2790c
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/24.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801f26818bc516ccec0415b818fde9f4187e1a0adb4ec8f9c08c1e96e226863f
+size 3877
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/25.obj b/processed/arcticv2/assets/objects/box_bottom/convex/25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40dcb26eda0e77c977868696aeadf0c6a3831e97
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/25.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78dbd6da72a37899e0492328ece37839d042caf101b8ebc5fd6b7500dca329a3
+size 2727
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/26.obj b/processed/arcticv2/assets/objects/box_bottom/convex/26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ea538ae28b598f709186443d51e673ca99a637
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/26.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c469c2d0dfda121d55f5e8543edadb8b1b754c7228a098e6a1f33777cfeb78f
+size 413
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/3.obj b/processed/arcticv2/assets/objects/box_bottom/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d771172b11fa52757565eb7edbbc435c2794fba
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2227d673ee776c8cdc13629f1cd2e06c2ba02fd154dbfca5a71cb3329b08dd96
+size 9705
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/4.obj b/processed/arcticv2/assets/objects/box_bottom/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dff57c789337f0d49a3bcbf82b5b00e0a11c485e
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f6446589752ee2f544a54b11bb0f133ed89f331cc179b8cdc1d6609c39be93
+size 1535
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/5.obj b/processed/arcticv2/assets/objects/box_bottom/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf0020c571f147625f0abb104275f857f110c75
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e2f7ac0e3c3d407eb1b0f363c26d1418698b56220897895149dd40f0314a8d
+size 1393
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/6.obj b/processed/arcticv2/assets/objects/box_bottom/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc6482a38606a90413da6e69fc9d8ec1531fdfbd
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bb7bbe5b12732524870876b8108cdabbef63f8c7c3b1a6afa5a76a705eb10b
+size 1392
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/7.obj b/processed/arcticv2/assets/objects/box_bottom/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ff905e1eed6cd00ac38a19be777e1b94419e86
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6cbc91e9f74d04cbac8810c18e81a4971b232bb8b9c85a982bffc633e0d485
+size 1394
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/8.obj b/processed/arcticv2/assets/objects/box_bottom/convex/8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04cc988a4f6c9e11696fe912592eb1dff3d6be56
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66045ebb3ef554dec911d97100d34135a6b37140bb97118ddab11269e6483262
+size 7469
diff --git a/processed/arcticv2/assets/objects/box_bottom/convex/9.obj b/processed/arcticv2/assets/objects/box_bottom/convex/9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433e1ac0c23c5c63b3e2b1dfe4eafc66abe8ad01
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/convex/9.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d7ee71609481f54aca9f94257ae92ff221240e9839ddf5c522b0adfa5fd6b4
+size 3023
diff --git a/processed/arcticv2/assets/objects/box_bottom/visual.obj b/processed/arcticv2/assets/objects/box_bottom/visual.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558237f7f539123b9f5f1af2b52548e6d2bb94b1
--- /dev/null
+++ b/processed/arcticv2/assets/objects/box_bottom/visual.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050dab41ef8d3d30096ccfc6ba23b929d724d5e41b92ee4bd53c314225f99b8c
+size 2254234
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/0.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d8dc078cefe58f2edf055ce06c6423b41b8c8ca
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47a19381062586438b7db8209de138d110cd6a0cbf051400f79a1b7ac8a24f57
+size 80477
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/1.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f57d204db47864e887d695195da0d8f74d289b6
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4700af00c26b9b6c32b5eaca3db9524e617b65761f2ee31286d41c065bf1f419
+size 25556
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/10.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5e8b367c9185625fd41d6e45021222d405f75f
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3050dadfc21eab0c82c237a6667e10a4f9917123f313bb10a4f83b8cc55b32f9
+size 8654
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/11.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c15ec79e2772aa9c5044c4b0576f7d1b2ccfe6
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b247dce1b60a7604d4156121d72e2e0ad853b61148d25c7e0e7a58a8222579
+size 429
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/2.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc88c531a027e946554aaa7606fbd63212a005c3
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2388fcb20599182b8b28e963d82a3e8d60e5ed31b5586ec6494b922818b9e100
+size 48852
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/3.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be1c270bb02f5446818ef8e53df216111a9ba70
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:595156fc340a5ef72baf79b7eb71134c267373048aaa387368cc2a6689121e7f
+size 83939
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/4.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46c6024ea739ce1eb9bdc5e8d16f8b7f9174c60
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96968befea6f588b8389a04888c7149f8162a82545ee41463c0777b81957fef
+size 42543
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/5.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c1767471cae2a668dc231d7c8117d1d70d654ce
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84cbb69927eb9adbb77cd50cda068de4d494eb9dbec9365148a795a7ed94363d
+size 4252
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/6.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1791f149450b9cd7303cca3631c6e3ea0fbb4f3f
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96cd832833ccd6cd8c439816ba018c5dd3c85f4f9282c397d424250cc4710c20
+size 34167
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/7.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e27888babc5fc031c0a52ab305331ca9caa8245
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b5ce87304166b40779d9f71b7af1c355adf9266b9d6b28bcf277d880b89865
+size 47525
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/8.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99682ea05a8a30768ab2879222103b4f3804ddce
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39d838e5ca771ba72ffcc8ca604fb81a18dba96cf44ebd63b067c988e18e315a
+size 1011
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/convex/9.obj b/processed/arcticv2/assets/objects/ketchup_bottom/convex/9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cbb8c430658f67e1331631f0856396adbd0ab5a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/convex/9.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c02aa3bf7d56fc68f03a8056712a00d1dc832df584fb354d1d269e5f84315038
+size 13966
diff --git a/processed/arcticv2/assets/objects/ketchup_bottom/visual.obj b/processed/arcticv2/assets/objects/ketchup_bottom/visual.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0d06c07c71c316972753c1009b2a4695e208a0
--- /dev/null
+++ b/processed/arcticv2/assets/objects/ketchup_bottom/visual.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b409354088461a334f9db3930391fb0463f848715628e0354069db9fb3ee823
+size 4031043
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/0.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1689de0c06313daf5079906c9170f1740a64c2e4
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ce0cfe736c44fd672c5b1cd411482a4709becb4d8092489af6f3bb9d8dce4da
+size 1616
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/1.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7175f2940851c365ac317ea3ffcfa37fa67df514
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7c8887b83c15f8fc15024ed3de7752e0a026fc8254fe9953769383401a4b20
+size 1624
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/10.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0816442da184119b242d133b7273c7bbb9e6423
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e634388945a4f24e3566d2edacdaefa76c5d439d0b6433b889b7ff5a6c7208ac
+size 1281
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/11.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1c5aa460fe995203f53f77f060d6472c458b79a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b7d49cd75b4738f8dae6651ffd38c1853be994afb419dc8904a3aeff542ee04
+size 2202
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/12.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d72fe6aa0363c94b1bf097a4f0192d58a915a0
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/12.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d88d09f3fea717d450b51f7c57591cb6abf7024779d1fc0dec408cd4f5f361e
+size 7954
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/13.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0890675130f1204342f31780bb64f374b6a42893
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/13.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de3e16aae1407e7c851bc1cd7efb70df1bbfc12c2c34403b0818a98599250a15
+size 4982
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/14.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a802956a87f705a4b6cf605937d07ecba1180230
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/14.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe44be4e9d661b504e1970d1a90e0846befcce29a75043c4e34ba4adbcc5787
+size 4906
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/15.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b6da7086876d0157b81dec1bd25e8632cc80cc0
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/15.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23b4c0b2e5b0119ed47ef7ac7da75382b9134022f1e0302bb9ae7b79750d780
+size 9066
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/16.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78af3770df303411aff30a02dec2d9e5ea038553
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/16.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3f75085fd828fb872416a58aab4e96276c52f873d87a3c099c6ba022697f61
+size 11893
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/17.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8defb82c170060c01ca3f33f0ec454fd08317ff
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/17.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4affdc1297d97a1296ae99e6bd3801cc0a3728b1ac1ffae9a6f14eaca29e55d6
+size 8813
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/18.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c04579a16ba2bf20d26a857158c85099e4df4618
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/18.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aab698e6f31f80f120b204c564ad6b49bb521060593fa0ab982d89f623ba8ff
+size 6864
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/19.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dee37074654423c52da43af7a6c924b3003d27c
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/19.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b58227cd6fc641da7408bc92fec0b64dcaab1db19db8692d65eaee96d160ab8d
+size 13251
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/2.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7660e610dbab41be06a13504738c9a834a5ce427
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f97938eba715aa7c95382afb28b589ff26236f1b3653014b6bb4f64f9a2f11
+size 1710
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/20.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f308eee991001ed0a9e085e23095fcec00771f
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/20.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3363c0ccf45dbd2d7c3326868bed5a62ee17e659c1da07e1e25be2ad199dc11
+size 413
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/3.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b22ee3160e53dc450d5e23ee63aee27dd1e1896
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4892a9391bd08136bcd55523778048369a4a9772db012a9d939f6582857cf1ce
+size 1115
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/4.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b6ad8521aba79da7bc1e9d0a1dc34ae76e271c
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b7176a719415c942e7fd76f8634de4106ec0b8c888f69c6c3a311036d13b3b0
+size 3838
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/5.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb3cf14213ae371f6312cc0fe48451863814cc5a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5e408d15b664a430c04899fcb50d9e661ea7bf138584e883658e554753a9d2
+size 4421
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/6.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7208a12f4eea71dc2c054d039fec88d471b12720
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f717e6b91a83b4ef20cb65b85c2aa3ef16905e3ddf38c75a8df059bd1d4e42ac
+size 2611
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/7.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3314a6cd7cc4ef75ff09019dcf2dae81227c9b7a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32102d199726f8da638ef57ffb8fa49c690322e49fb5189e1a29871088a509bd
+size 3243
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/8.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efaa38e8a30b4c523f955ccc9fc2c30beec08c39
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9f16eea69aeb2fe28df90086077c7b6de9534bd295c83e434b36a719553934
+size 1124
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/convex/9.obj b/processed/arcticv2/assets/objects/laptop_bottom/convex/9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32689088235ab3ac6cfff04b9b214584f26e6091
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/convex/9.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8594d9cb0fa4659e32eee4cf1b4ae27ee1a8567d6c890431367a8f76fa4408f
+size 1538
diff --git a/processed/arcticv2/assets/objects/laptop_bottom/visual.obj b/processed/arcticv2/assets/objects/laptop_bottom/visual.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830fe37fe685a5deeee5a61bf2fc137b68120b83
--- /dev/null
+++ b/processed/arcticv2/assets/objects/laptop_bottom/visual.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbf50b1992f96b50afb79cb8c9376d35fc048061a2652bbb6ca4f18bbfaaa4a
+size 1961741
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/0.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1072329768fee9c92ed8712f41914f12e68a53d
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ebf929f3560c3de1b35bd5fe48c2b672df98cff65b21817412bdb6ee250336
+size 12291
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/1.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902d49d242ca5570bb18c475db0a1edb2d39cda3
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02333d00bc0b8be8939f899528b77c214a81bf186e7744f214ba560144cab6f2
+size 11862
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/10.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6564e16fc722d0caeb66d369c350ea33851773e6
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d92993af7cb41ed36ff5d2be0b446fa766ba35def68ff644635692ceee2f402
+size 19093
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/11.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce0c3c5968cb2608a309d636ef52e7d3f90d083
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db26d81c6ba4933b687177c196f9cc099373b47b270d8798d5caddfc88d135ef
+size 11759
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/12.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3881be138eb780ef9ad8f08009e1d5955afaeb4c
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/12.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f26f3ab4d37e59e6b0c8cd534d1f59a5c5770a99b5925c807971404ce132e6
+size 10657
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/13.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a63a41710424249c7d3f25a61d05e3c31928eaae
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/13.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f0956953391fa513ef125fed411ff272053260cf14afb1a2497605e6ac153c
+size 7219
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/14.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d101c6340ee3d305703d2ee0ede269d9407f2634
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/14.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8117f57c445e871e7c1520f4f545131f19b6cf8baedb1be45bb033c186f1f45e
+size 10658
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/15.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e130865f69fa903f515272acc861cfdf5c2c092
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/15.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0511f4d7adb94aea642c78e1f4d167693454f53084c79635145a016cb9442f43
+size 8213
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/16.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c916ce9e69496fc458d5218ce4460e1f063244
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/16.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3c504dc59e0b9692db3836f2657441be61fde178bf209c04c64fe579a6d0c26
+size 429
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/2.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5fa3a6ea53439404fed61a345ac2cc59846117
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c7fedbd4522140cdb775357e881bb4ac93bcda4ad3495d92531b4de08a1431e
+size 6166
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/3.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb492b1382e75922250f01dc08468fe9f6f46ffa
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da2e4e8a36484b9da7d2ba13e6a058d842e1e0bb44505584f6760241b5983bf3
+size 6994
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/4.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65a92ba31da1ec131d3dd3048221f9d47cfdd31
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69adada7fabc32489e6f0d317d0d9f142278b366acb8a05f53c0265b4344c9ea
+size 5788
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/5.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7ab1d1893ed33d7a585ce5a86c6d52ffa6cbf3
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:769f4de2d27585453adb294858729cd67f355c40f000c8f06d51461dbc32d784
+size 4457
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/6.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ae2f622be64ca0ceeaf8862a1f2687212a23672
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4d89616ce03865a1015f6a21261d590c3e2f26b7d8821fd0a02d77d8d75e8c
+size 13307
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/7.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a35859ac9c399ac109713e4d68ff3746793503ca
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c2a7006c7bf506b5bb74e23bb6fdcc48fdd04aaa9de36f0854082504bb803c
+size 12716
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/8.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea34378aa8d2115c6a19184992a7f3229714137
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d843b09f2c9c354cc025be9fef117bc231cbd6edc75f941687b482e0d09c8c
+size 4474
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/convex/9.obj b/processed/arcticv2/assets/objects/mixer_bottom/convex/9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda96fc4a96c7cdd75b3c9571d40695c49b49ff1
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/convex/9.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c75ff330aa96087e3096df50d71b9c5f7bf1c89cc3716f409b69b652bdc85243
+size 3707
diff --git a/processed/arcticv2/assets/objects/mixer_bottom/visual.obj b/processed/arcticv2/assets/objects/mixer_bottom/visual.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a98b41569af78e5dd2f61b1a2f54ab6fe02980
--- /dev/null
+++ b/processed/arcticv2/assets/objects/mixer_bottom/visual.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f9a17d831f7d6eb28f590a1e1b09a1eff39c37605fe63c3c52915e69bbba9a
+size 2734509
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/0.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac11fdc09e302a21ddd7e27bcd624c6fc13b5311
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c144dc6689e050423ea642b65206db0fda75006c2b7e378ad070044149ff3e25
+size 8714
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/1.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea247091b7110515be0fc3bdd081a76e20785560
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3375b3e46a2677df72db583791b203500ff183298ec1b98695f4da93fa7d652f
+size 6880
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/10.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f83c8e75871d7b19d4f6609b5e5d83b8b29394
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb2698a342b8cf20aef807f5e4c8e61a4a4785142fb051228e294dc476d5ae7
+size 7548
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/11.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb7e1064c4aba54d64e4f1b0c99f4844b6d5fbc
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ed6b3fe55b9a3073394ce2770f8a30935909286efe63e6bc34cf3df0017998
+size 1393
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/12.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0114fbda2a7fad5d84aaf976cddb6651a08c9eb
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/12.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13fc058806f9a21c7b5bfb2e3b8007d71a6b024ad740b014aaf96734511de431
+size 586
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/13.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db4db9bf26ce18e36ef664dc577d33760ce3a88
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/13.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f40930c7150def4c959aff34e51161874a743d8213cea6562aa96a54fbaf65db
+size 437
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/2.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5605d0a73ab4a21d46269ba038e9c311484fe18a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4a3af0e4f78202ecf22a3aa90c0420155b84d7e19a21f8c0e91eb8407dbcced
+size 8572
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/3.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41131eaad659f2726a2b6e9f5b2d3db19a6e7930
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3c12fdffac42b91639ea9b325c2c689d09e0a8fbf8d4c31e04ec3c6337d2f88
+size 7064
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/4.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c747bf5e0f348ea5ded7ac6df63eec7dd3c4704e
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81f29943331f1d30e51cac0a764107f5cf3f41b6ef4ba92d963ce367c27d771
+size 9965
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/5.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574b1cc1963e4f61f9ded8c4575b4b242d44c1bd
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91477aa4e2b652ded79b4a24f6c55082117fda05732e5394de799072d733349
+size 6250
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/6.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57dd3769c9f0d732cdb6fddb3a49da149b7ae0f6
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbbdb78bca9833507e0dacaafbe8dfb104072614086d079e87208ed35b03f5e2
+size 595
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/7.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbd57e34ba2b72b0933c5cf4f14a1f8556626b0
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d6083f505a986563d7e696b2a6a820c2947b6d836b55786676f6a88b1a0d78
+size 716
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/8.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf167a2337da3239e3035e5a0ceb60bf91206cd6
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1929bbd417ce00134deb7be1c717a1ab5db53b100cd9578f9d2c450e6594d9eb
+size 7346
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/convex/9.obj b/processed/arcticv2/assets/objects/notebook_bottom/convex/9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a27fbb00cf781dff6a45d608c1bc66b67b65e4ba
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/convex/9.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502b0ab55bdc81e873c1d9a74a0a14180de82694a56a4d5c6fbb280ee47c291c
+size 5906
diff --git a/processed/arcticv2/assets/objects/notebook_bottom/visual.obj b/processed/arcticv2/assets/objects/notebook_bottom/visual.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614f5bf6b94b417625b4141acc9224af94e0b275
--- /dev/null
+++ b/processed/arcticv2/assets/objects/notebook_bottom/visual.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd812a9fc7756bedc5a526c017ca03026edc8196a5db347888a96d741d668170
+size 2154961
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/0.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ea695ed098a17cc0d2f80296b60489adf28369
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec514d9e9ed4d6e9162684b62812174b4a776fd79d51417f08cfd2cfec4400a0
+size 2957
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/1.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b71ce76752641adcb4197cc3eec247e2ac5951
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d87c3a5c92a38227310d8b6a9648c00dab47ac82d8ae5143bc53f585c30400
+size 1689
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/2.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94a6a12a8c04af0a6bbb52867d4f84f959657eb9
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a39b1a8d16dc2c730df0c790d8afdbda80b35239ed35476ee617be10791fee0
+size 25911
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/3.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd0f2cc9fa30d7bcffea649594dc3c5ae97901a
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4336ad0141a529da18da49a4c321b90530b49e5b852586da69c3fcb8dea7123c
+size 4734
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/4.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807dc4a87f590b59122b33163752d57cb72c440b
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88786a4f507821c3d66e4a7a05eb860b1a7603b425dcb5096da8373946eead5e
+size 22203
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/5.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65b71e927a28c1c71d1c24a98638151e644b8b43
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05e5b254a47f908731450ea396d95ea124db4dc533505e02e2d7094a8f442a2
+size 31730
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/6.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7af5a695535fc549ae297c9ede65d61c38f1c38
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b012ccd9a5de5cfbe932043a84d6a2e03a6e5475881ba6515c6bb25f320213cf
+size 42140
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/7.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65d6dfdeb57877c360282185c016a8f2959ae60d
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df670b2afe18047c97965a772a04560f63015295ec318b5c683ca2ef47999c90
+size 23394
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/convex/8.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5157baccf93079e20000eaacacbdba5586717f82
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/convex/8.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d97d0b242eda8a8ce4db2bd19c21b6b5936fb0b66e4df77596cccef13291133
+size 415
diff --git a/processed/arcticv2/assets/objects/waffleiron_bottom/visual.obj b/processed/arcticv2/assets/objects/waffleiron_bottom/visual.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830f0e9ee27ee3a5e4e44619ba408b9f18373979
--- /dev/null
+++ b/processed/arcticv2/assets/objects/waffleiron_bottom/visual.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfd86b8643583aed93d204054888a5dd0c2b94af313830fbf8aa9cfa624d6fbd
+size 1840198
diff --git a/processed/arcticv2/assets/robots b/processed/arcticv2/assets/robots
new file mode 120000
index 0000000000000000000000000000000000000000..31e076d7393f9132964f31ecf3879daac871fc23
--- /dev/null
+++ b/processed/arcticv2/assets/robots
@@ -0,0 +1 @@
+../../oakink/assets/robots
\ No newline at end of file
diff --git a/processed/arcticv2/mano/bimanual/s01-box_use_01/0/trajectory_keypoints.npz b/processed/arcticv2/mano/bimanual/s01-box_use_01/0/trajectory_keypoints.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cead6e26c991efc2c5b7436cc95b30e45a15635e
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-box_use_01/0/trajectory_keypoints.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7df1ef32df095436d3a8d98416b8af749ad5281d94b3ff40e904fbef3016721e
+size 96460
diff --git a/processed/arcticv2/mano/bimanual/s01-box_use_01/task_info.json b/processed/arcticv2/mano/bimanual/s01-box_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..181ea61cc17d366518dcb9bd687f3bbcb98ab457
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-box_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-box_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "mano",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/box_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 121,
+  "obj_first_frame_lowest_world_z": 1.3877787807814457e-17,
+  "scene_lowest_world_z": -0.022415896197524487,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9527014692032008,
+  "arctic_subject": "s01",
+  "arctic_object": "box",
+  "arctic_clip_use": "box_use_01",
+  "arctic_frame_range": [
+    3,
+    124
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000014,
+  "right_plate_bottom_world_z": 1.3877787807814457e-17,
+  "right_obj_first_frame_xy": [
+    -0.14784286044292677,
+    -0.04123604678031278
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/box_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/mano/bimanual/s01-ketchup_use_01/0/trajectory_keypoints.npz b/processed/arcticv2/mano/bimanual/s01-ketchup_use_01/0/trajectory_keypoints.npz
new file mode 100644
index 0000000000000000000000000000000000000000..77d3454c156d735deb700f1ed25e48a111f8afd0
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-ketchup_use_01/0/trajectory_keypoints.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b36e5ec61846333dc79c9eff7f9ac34dac76af0df2aa205978b489e287f36186
+size 83916
diff --git a/processed/arcticv2/mano/bimanual/s01-ketchup_use_01/task_info.json b/processed/arcticv2/mano/bimanual/s01-ketchup_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc0231dfeadac43b2b8bbc81fe0ec068ab7cb49
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-ketchup_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-ketchup_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "mano",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/ketchup_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 105,
+  "obj_first_frame_lowest_world_z": 2.7755575615628914e-17,
+  "scene_lowest_world_z": -2.989524112678721e-05,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9528551248291879,
+  "arctic_subject": "s01",
+  "arctic_object": "ketchup",
+  "arctic_clip_use": "ketchup_use_01",
+  "arctic_frame_range": [
+    0,
+    105
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000028,
+  "right_plate_bottom_world_z": 2.7755575615628914e-17,
+  "right_obj_first_frame_xy": [
+    0.0232526847791525,
+    -0.05787617321110399
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/ketchup_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/mano/bimanual/s01-laptop_use_01/0/trajectory_keypoints.npz b/processed/arcticv2/mano/bimanual/s01-laptop_use_01/0/trajectory_keypoints.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a3725a79094efab6e82be1308193f346e8f5218d
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-laptop_use_01/0/trajectory_keypoints.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9643905dcdf15dc2ae83f16b7c0023ce20910a95acedc9f80462de1245fb15ca
+size 83916
diff --git a/processed/arcticv2/mano/bimanual/s01-laptop_use_01/task_info.json b/processed/arcticv2/mano/bimanual/s01-laptop_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90a519d8d52630305ad9e16e02d8b31f3649ad4
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-laptop_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-laptop_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "mano",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/laptop_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 105,
+  "obj_first_frame_lowest_world_z": 3.8163916471489756e-17,
+  "scene_lowest_world_z": -0.05869253809785657,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9496782058033925,
+  "arctic_subject": "s01",
+  "arctic_object": "laptop",
+  "arctic_clip_use": "laptop_use_01",
+  "arctic_frame_range": [
+    0,
+    105
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000038,
+  "right_plate_bottom_world_z": 3.8163916471489756e-17,
+  "right_obj_first_frame_xy": [
+    -0.13751378239473916,
+    0.02359432289956002
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/laptop_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/mano/bimanual/s01-mixer_use_01/0/trajectory_keypoints.npz b/processed/arcticv2/mano/bimanual/s01-mixer_use_01/0/trajectory_keypoints.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e22e3dfa1ca54db0db32c2120c1a83e886510c2
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-mixer_use_01/0/trajectory_keypoints.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c23261e541a94c99ada76684085368be3bce601acf625481f3e853f154a0bc
+size 96460
diff --git a/processed/arcticv2/mano/bimanual/s01-mixer_use_01/task_info.json b/processed/arcticv2/mano/bimanual/s01-mixer_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7f12b8edcff8b518842f57fc6346b20d7202dd
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-mixer_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-mixer_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "mano",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/mixer_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 121,
+  "obj_first_frame_lowest_world_z": 2.7755575615628914e-17,
+  "scene_lowest_world_z": -0.001086173621606873,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9511715300336863,
+  "arctic_subject": "s01",
+  "arctic_object": "mixer",
+  "arctic_clip_use": "mixer_use_01",
+  "arctic_frame_range": [
+    2,
+    123
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000028,
+  "right_plate_bottom_world_z": 2.7755575615628914e-17,
+  "right_obj_first_frame_xy": [
+    -0.05848913274607139,
+    -0.029340091279683626
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/mixer_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/mano/bimanual/s01-notebook_use_01/0/trajectory_keypoints.npz b/processed/arcticv2/mano/bimanual/s01-notebook_use_01/0/trajectory_keypoints.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c1587f942f5e5d525aac04168de87a0f5447dd46
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-notebook_use_01/0/trajectory_keypoints.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b40b2a6d85841a8a78e723d5cceceb3bae5e2bf81a048859c88e9d7a538cdf54
+size 86268
diff --git a/processed/arcticv2/mano/bimanual/s01-notebook_use_01/task_info.json b/processed/arcticv2/mano/bimanual/s01-notebook_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ea73f34e3a5e8de70d162fa9bb515de4507871
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-notebook_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-notebook_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "mano",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/notebook_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 108,
+  "obj_first_frame_lowest_world_z": 2.0816681711721685e-17,
+  "scene_lowest_world_z": -0.03966087605318136,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9514276435550124,
+  "arctic_subject": "s01",
+  "arctic_object": "notebook",
+  "arctic_clip_use": "notebook_use_01",
+  "arctic_frame_range": [
+    0,
+    108
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000021,
+  "right_plate_bottom_world_z": 2.0816681711721685e-17,
+  "right_obj_first_frame_xy": [
+    0.04282204443503827,
+    -0.009782770580009913
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/notebook_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/mano/bimanual/s01-waffleiron_use_01/0/trajectory_keypoints.npz b/processed/arcticv2/mano/bimanual/s01-waffleiron_use_01/0/trajectory_keypoints.npz
new file mode 100644
index 0000000000000000000000000000000000000000..42fa4f492983fd6ca8a2782639d7c721b49c4d7d
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-waffleiron_use_01/0/trajectory_keypoints.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8b616852c13ecd8d4e73f634228c661e45a0ff3ba04f782428b73063a8f8c60
+size 94108
diff --git a/processed/arcticv2/mano/bimanual/s01-waffleiron_use_01/task_info.json b/processed/arcticv2/mano/bimanual/s01-waffleiron_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6245908d5798b639bea68f492446f39687b0a2
--- /dev/null
+++ b/processed/arcticv2/mano/bimanual/s01-waffleiron_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-waffleiron_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "mano",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/waffleiron_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 118,
+  "obj_first_frame_lowest_world_z": 2.7755575615628914e-17,
+  "scene_lowest_world_z": -0.036385217851336416,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9512660896241025,
+  "arctic_subject": "s01",
+  "arctic_object": "waffleiron",
+  "arctic_clip_use": "waffleiron_use_01",
+  "arctic_frame_range": [
+    0,
+    118
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000014,
+  "right_plate_bottom_world_z": 1.3877787807814457e-17,
+  "right_obj_first_frame_xy": [
+    -0.016211899266140337,
+    -0.0036650709602078554
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/waffleiron_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/config.yaml b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/config.yaml
similarity index 71%
rename from processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/config.yaml
rename to processed/arcticv2/xhand/bimanual/s01-box_use_01/0/config.yaml
index 0c48efdd3e02512120fff0af9e22f2b4d8ec62b8..8090ed437335a4c8ccdaa9876b7a077118857a54 100644
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/config.yaml
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/config.yaml
@@ -1,24 +1,27 @@
 robot_type: xhand
-embodiment_type: right
-task: uncap_alcohol_burner
+embodiment_type: bimanual
+task: s01-box_use_01
 seed: 0
+sanity_check_seconds: 0.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
-dataset_name: oakinkv2
+dataset_name: arcticv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
 sim_dt: 0.01
 ctrl_dt: 1.5
-ref_dt: 0.02
+ref_dt: 0.03333333333333333
 render_dt: 0.02
 horizon: 3.0
 knot_dt: 1.0
-max_sim_steps: 392
-nconmax_per_env: 120
-njmax_per_env: 350
+max_sim_steps: 234
+nconmax_per_env: 256
+njmax_per_env: 768
 num_dyn: 1
 num_dr: 1
 pair_margin_range:
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 2.5
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,26 +86,32 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
-wait_on_finish: false
+show_viewer: false
+viewer: mujoco-rerun
+wait_on_finish: true
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
 num_trace_uniform_samples: 4
 num_trace_topk_samples: 2
 trace_site_ids:
-- 17
+- 33
+- 55
 - 3
 - 6
 - 9
 - 12
 - 15
+- 19
+- 22
+- 25
+- 28
+- 31
 contact_order: []
 hand_contact_site_ids: []
 right_contact_indices: []
@@ -114,10 +123,10 @@ horizon_steps: 300
 knot_steps: 100
 ref_steps: 2
 ctrl_steps: 150
-nq_obj: 7
-nq: 25
-nv: 24
-nu: 18
-npair: 80
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 801
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0
+output_dir: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-box_use_01/0
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/sanity_check_drift.mp4 b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e5910aa40ae62fd43b345a62a43d7b7933d8425
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:197314c3795cae7b877015dd3da6da6ee44189d8efa629708cd16271c8a290dc
+size 10556
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_ikrollout.npz b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05371b3bac98726cd40b7789038bc83b20f8a415
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439ac6dc446d480262a502a2b2108d70f7528c3eea1626a430189c30674f873b
+size 47062
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_kinematic.npz b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a0e0c8af97a420949ca6d5c1e6523de81766d688
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efaedc19005460ab837c697ce33b9d82b054a4eed1b7895d8699878de985a05
+size 92488
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_mjwp_fast.npz b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f41c8b0ea98f4dbf4cc199e5c1be356cb7f7bb2
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c207ee1df56e7ca9b5405bda887f4ac25c231c6863c6b96117e916071e18ed
+size 617474
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/visualization_ik.mp4 b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7228e944af6ba0a4560511605d8f94467459a02
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b35892e6c6a268bdb5f73ba425a806d95ee61f7a1fda021a5858caf00f3c42
+size 114720
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/visualization_mjwp_fast.mp4 b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1ec6ed25893ed21087820eac8da393b963c0192
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b701c255b1995c1d9bb9ec92cc8e3461bcd845805d15437b1323b9a3287f2fd
+size 212792
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/scene.xml b/processed/arcticv2/xhand/bimanual/s01-box_use_01/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..357af906ba4288cd79a311bc6e1765146f295236
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/scene.xml
@@ -0,0 +1,1271 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/box_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/box_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/box_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/box_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/box_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/box_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/box_bottom/convex/13.obj"/>
+    <mesh name="right_14" file="objects/box_bottom/convex/14.obj"/>
+    <mesh name="right_15" file="objects/box_bottom/convex/15.obj"/>
+    <mesh name="right_16" file="objects/box_bottom/convex/16.obj"/>
+    <mesh name="right_17" file="objects/box_bottom/convex/17.obj"/>
+    <mesh name="right_18" file="objects/box_bottom/convex/18.obj"/>
+    <mesh name="right_19" file="objects/box_bottom/convex/19.obj"/>
+    <mesh name="right_2" file="objects/box_bottom/convex/2.obj"/>
+    <mesh name="right_20" file="objects/box_bottom/convex/20.obj"/>
+    <mesh name="right_21" file="objects/box_bottom/convex/21.obj"/>
+    <mesh name="right_22" file="objects/box_bottom/convex/22.obj"/>
+    <mesh name="right_23" file="objects/box_bottom/convex/23.obj"/>
+    <mesh name="right_24" file="objects/box_bottom/convex/24.obj"/>
+    <mesh name="right_25" file="objects/box_bottom/convex/25.obj"/>
+    <mesh name="right_26" file="objects/box_bottom/convex/26.obj"/>
+    <mesh name="right_3" file="objects/box_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/box_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/box_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/box_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/box_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/box_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/box_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <geom name="right_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_17"/>
+      <geom name="right_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_18"/>
+      <geom name="right_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_19"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_20" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_20"/>
+      <geom name="right_object_21" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_21"/>
+      <geom name="right_object_22" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_22"/>
+      <geom name="right_object_23" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_23"/>
+      <geom name="right_object_24" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_24"/>
+      <geom name="right_object_25" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_25"/>
+      <geom name="right_object_26" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_26"/>
+      <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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_17" name="floor_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_18" name="floor_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_19" name="floor_right_object_19" 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_20" name="floor_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_21" name="floor_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_22" name="floor_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_23" name="floor_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_24" name="floor_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_25" name="floor_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_26" name="floor_right_object_26" 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_17" name="collision_hand_right_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_18" name="collision_hand_right_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_19" name="collision_hand_right_palm_0_right_object_19" 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_20" name="collision_hand_right_palm_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_21" name="collision_hand_right_palm_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_22" name="collision_hand_right_palm_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_23" name="collision_hand_right_palm_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_24" name="collision_hand_right_palm_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_25" name="collision_hand_right_palm_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_26" name="collision_hand_right_palm_0_right_object_26" 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_17" name="collision_hand_right_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_18" name="collision_hand_right_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_19" name="collision_hand_right_thumb_2_right_object_19" 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_20" name="collision_hand_right_thumb_2_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_21" name="collision_hand_right_thumb_2_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_22" name="collision_hand_right_thumb_2_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_23" name="collision_hand_right_thumb_2_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_24" name="collision_hand_right_thumb_2_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_25" name="collision_hand_right_thumb_2_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_26" name="collision_hand_right_thumb_2_right_object_26" 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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_17" name="collision_hand_right_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_18" name="collision_hand_right_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_19" name="collision_hand_right_thumb_1_right_object_19" 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_20" name="collision_hand_right_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_21" name="collision_hand_right_thumb_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_22" name="collision_hand_right_thumb_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_23" name="collision_hand_right_thumb_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_24" name="collision_hand_right_thumb_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_25" name="collision_hand_right_thumb_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_26" name="collision_hand_right_thumb_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_17" name="collision_hand_right_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_18" name="collision_hand_right_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_19" name="collision_hand_right_thumb_0_right_object_19" 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_20" name="collision_hand_right_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_21" name="collision_hand_right_thumb_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_22" name="collision_hand_right_thumb_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_23" name="collision_hand_right_thumb_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_24" name="collision_hand_right_thumb_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_25" name="collision_hand_right_thumb_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_26" name="collision_hand_right_thumb_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_17" name="collision_hand_right_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_18" name="collision_hand_right_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_19" name="collision_hand_right_index_1_right_object_19" 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_20" name="collision_hand_right_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_21" name="collision_hand_right_index_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_22" name="collision_hand_right_index_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_23" name="collision_hand_right_index_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_24" name="collision_hand_right_index_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_25" name="collision_hand_right_index_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_26" name="collision_hand_right_index_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_17" name="collision_hand_right_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_18" name="collision_hand_right_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_19" name="collision_hand_right_index_0_right_object_19" 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_20" name="collision_hand_right_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_21" name="collision_hand_right_index_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_22" name="collision_hand_right_index_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_23" name="collision_hand_right_index_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_24" name="collision_hand_right_index_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_25" name="collision_hand_right_index_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_26" name="collision_hand_right_index_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_17" name="collision_hand_right_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_18" name="collision_hand_right_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_19" name="collision_hand_right_middle_1_right_object_19" 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_20" name="collision_hand_right_middle_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_21" name="collision_hand_right_middle_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_22" name="collision_hand_right_middle_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_23" name="collision_hand_right_middle_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_24" name="collision_hand_right_middle_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_25" name="collision_hand_right_middle_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_26" name="collision_hand_right_middle_1_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_17" name="collision_hand_right_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_18" name="collision_hand_right_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_19" name="collision_hand_right_middle_0_right_object_19" 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_20" name="collision_hand_right_middle_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_21" name="collision_hand_right_middle_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_22" name="collision_hand_right_middle_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_23" name="collision_hand_right_middle_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_24" name="collision_hand_right_middle_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_25" name="collision_hand_right_middle_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_26" name="collision_hand_right_middle_0_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_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_17" name="collision_hand_right_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_18" name="collision_hand_right_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_19" name="collision_hand_right_ring_1_right_object_19" 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_20" name="collision_hand_right_ring_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_21" name="collision_hand_right_ring_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_22" name="collision_hand_right_ring_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_23" name="collision_hand_right_ring_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_24" name="collision_hand_right_ring_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_25" name="collision_hand_right_ring_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_26" name="collision_hand_right_ring_1_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_17" name="collision_hand_right_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_18" name="collision_hand_right_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_19" name="collision_hand_right_ring_0_right_object_19" 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_20" name="collision_hand_right_ring_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_21" name="collision_hand_right_ring_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_22" name="collision_hand_right_ring_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_23" name="collision_hand_right_ring_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_24" name="collision_hand_right_ring_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_25" name="collision_hand_right_ring_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_26" name="collision_hand_right_ring_0_right_object_26" 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_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_17" name="collision_hand_right_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_18" name="collision_hand_right_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_19" name="collision_hand_right_pinky_1_right_object_19" 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_20" name="collision_hand_right_pinky_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_21" name="collision_hand_right_pinky_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_22" name="collision_hand_right_pinky_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_23" name="collision_hand_right_pinky_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_24" name="collision_hand_right_pinky_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_25" name="collision_hand_right_pinky_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_26" name="collision_hand_right_pinky_1_right_object_26" 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_16" name="collision_hand_right_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_17" name="collision_hand_right_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_18" name="collision_hand_right_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_19" name="collision_hand_right_pinky_0_right_object_19" 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_20" name="collision_hand_right_pinky_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_21" name="collision_hand_right_pinky_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_22" name="collision_hand_right_pinky_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_23" name="collision_hand_right_pinky_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_24" name="collision_hand_right_pinky_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_25" name="collision_hand_right_pinky_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_26" name="collision_hand_right_pinky_0_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_17" name="collision_hand_left_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_18" name="collision_hand_left_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_19" name="collision_hand_left_palm_0_right_object_19" 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_20" name="collision_hand_left_palm_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_21" name="collision_hand_left_palm_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_22" name="collision_hand_left_palm_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_23" name="collision_hand_left_palm_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_24" name="collision_hand_left_palm_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_25" name="collision_hand_left_palm_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_26" name="collision_hand_left_palm_0_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_17" name="collision_hand_left_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_18" name="collision_hand_left_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_19" name="collision_hand_left_thumb_2_right_object_19" 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_20" name="collision_hand_left_thumb_2_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_21" name="collision_hand_left_thumb_2_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_22" name="collision_hand_left_thumb_2_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_23" name="collision_hand_left_thumb_2_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_24" name="collision_hand_left_thumb_2_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_25" name="collision_hand_left_thumb_2_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_26" name="collision_hand_left_thumb_2_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_17" name="collision_hand_left_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_18" name="collision_hand_left_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_19" name="collision_hand_left_thumb_1_right_object_19" 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_20" name="collision_hand_left_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_21" name="collision_hand_left_thumb_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_22" name="collision_hand_left_thumb_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_23" name="collision_hand_left_thumb_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_24" name="collision_hand_left_thumb_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_25" name="collision_hand_left_thumb_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_26" name="collision_hand_left_thumb_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_17" name="collision_hand_left_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_18" name="collision_hand_left_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_19" name="collision_hand_left_thumb_0_right_object_19" 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_20" name="collision_hand_left_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_21" name="collision_hand_left_thumb_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_22" name="collision_hand_left_thumb_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_23" name="collision_hand_left_thumb_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_24" name="collision_hand_left_thumb_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_25" name="collision_hand_left_thumb_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_26" name="collision_hand_left_thumb_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_17" name="collision_hand_left_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_18" name="collision_hand_left_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_19" name="collision_hand_left_index_1_right_object_19" 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_20" name="collision_hand_left_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_21" name="collision_hand_left_index_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_22" name="collision_hand_left_index_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_23" name="collision_hand_left_index_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_24" name="collision_hand_left_index_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_25" name="collision_hand_left_index_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_26" name="collision_hand_left_index_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_17" name="collision_hand_left_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_18" name="collision_hand_left_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_19" name="collision_hand_left_index_0_right_object_19" 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_20" name="collision_hand_left_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_21" name="collision_hand_left_index_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_22" name="collision_hand_left_index_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_23" name="collision_hand_left_index_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_24" name="collision_hand_left_index_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_25" name="collision_hand_left_index_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_26" name="collision_hand_left_index_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_17" name="collision_hand_left_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_18" name="collision_hand_left_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_19" name="collision_hand_left_middle_1_right_object_19" 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_20" name="collision_hand_left_middle_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_21" name="collision_hand_left_middle_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_22" name="collision_hand_left_middle_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_23" name="collision_hand_left_middle_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_24" name="collision_hand_left_middle_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_25" name="collision_hand_left_middle_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_26" name="collision_hand_left_middle_1_right_object_26" 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_17" name="collision_hand_left_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_18" name="collision_hand_left_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_19" name="collision_hand_left_middle_0_right_object_19" 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_20" name="collision_hand_left_middle_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_21" name="collision_hand_left_middle_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_22" name="collision_hand_left_middle_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_23" name="collision_hand_left_middle_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_24" name="collision_hand_left_middle_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_25" name="collision_hand_left_middle_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_26" name="collision_hand_left_middle_0_right_object_26" 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_17" name="collision_hand_left_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_18" name="collision_hand_left_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_19" name="collision_hand_left_ring_1_right_object_19" 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_20" name="collision_hand_left_ring_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_21" name="collision_hand_left_ring_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_22" name="collision_hand_left_ring_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_23" name="collision_hand_left_ring_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_24" name="collision_hand_left_ring_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_25" name="collision_hand_left_ring_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_26" name="collision_hand_left_ring_1_right_object_26" 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_17" name="collision_hand_left_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_18" name="collision_hand_left_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_19" name="collision_hand_left_ring_0_right_object_19" 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_20" name="collision_hand_left_ring_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_21" name="collision_hand_left_ring_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_22" name="collision_hand_left_ring_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_23" name="collision_hand_left_ring_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_24" name="collision_hand_left_ring_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_25" name="collision_hand_left_ring_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_26" name="collision_hand_left_ring_0_right_object_26" 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_17" name="collision_hand_left_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_18" name="collision_hand_left_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_19" name="collision_hand_left_pinky_1_right_object_19" 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_20" name="collision_hand_left_pinky_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_21" name="collision_hand_left_pinky_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_22" name="collision_hand_left_pinky_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_23" name="collision_hand_left_pinky_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_24" name="collision_hand_left_pinky_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_25" name="collision_hand_left_pinky_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_26" name="collision_hand_left_pinky_1_right_object_26" 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_17" name="collision_hand_left_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_18" name="collision_hand_left_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_19" name="collision_hand_left_pinky_0_right_object_19" 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_20" name="collision_hand_left_pinky_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_21" name="collision_hand_left_pinky_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_22" name="collision_hand_left_pinky_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_23" name="collision_hand_left_pinky_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_24" name="collision_hand_left_pinky_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_25" name="collision_hand_left_pinky_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_26" name="collision_hand_left_pinky_0_right_object_26" 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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/scene_eq.xml b/processed/arcticv2/xhand/bimanual/s01-box_use_01/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba3695a527dcf361f19458171e1c8dec4cf7000c
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/scene_eq.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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/box_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/box_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/box_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/box_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/box_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/box_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/box_bottom/convex/13.obj"/>
+    <mesh name="right_14" file="objects/box_bottom/convex/14.obj"/>
+    <mesh name="right_15" file="objects/box_bottom/convex/15.obj"/>
+    <mesh name="right_16" file="objects/box_bottom/convex/16.obj"/>
+    <mesh name="right_17" file="objects/box_bottom/convex/17.obj"/>
+    <mesh name="right_18" file="objects/box_bottom/convex/18.obj"/>
+    <mesh name="right_19" file="objects/box_bottom/convex/19.obj"/>
+    <mesh name="right_2" file="objects/box_bottom/convex/2.obj"/>
+    <mesh name="right_20" file="objects/box_bottom/convex/20.obj"/>
+    <mesh name="right_21" file="objects/box_bottom/convex/21.obj"/>
+    <mesh name="right_22" file="objects/box_bottom/convex/22.obj"/>
+    <mesh name="right_23" file="objects/box_bottom/convex/23.obj"/>
+    <mesh name="right_24" file="objects/box_bottom/convex/24.obj"/>
+    <mesh name="right_25" file="objects/box_bottom/convex/25.obj"/>
+    <mesh name="right_26" file="objects/box_bottom/convex/26.obj"/>
+    <mesh name="right_3" file="objects/box_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/box_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/box_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/box_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/box_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/box_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/box_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <geom name="right_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_17"/>
+      <geom name="right_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_18"/>
+      <geom name="right_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_19"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_20" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_20"/>
+      <geom name="right_object_21" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_21"/>
+      <geom name="right_object_22" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_22"/>
+      <geom name="right_object_23" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_23"/>
+      <geom name="right_object_24" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_24"/>
+      <geom name="right_object_25" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_25"/>
+      <geom name="right_object_26" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_26"/>
+      <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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_17" name="floor_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_18" name="floor_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_19" name="floor_right_object_19" 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_20" name="floor_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_21" name="floor_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_22" name="floor_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_23" name="floor_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_24" name="floor_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_25" name="floor_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_26" name="floor_right_object_26" 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_17" name="collision_hand_right_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_18" name="collision_hand_right_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_19" name="collision_hand_right_palm_0_right_object_19" 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_20" name="collision_hand_right_palm_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_21" name="collision_hand_right_palm_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_22" name="collision_hand_right_palm_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_23" name="collision_hand_right_palm_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_24" name="collision_hand_right_palm_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_25" name="collision_hand_right_palm_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_26" name="collision_hand_right_palm_0_right_object_26" 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_17" name="collision_hand_right_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_18" name="collision_hand_right_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_19" name="collision_hand_right_thumb_2_right_object_19" 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_20" name="collision_hand_right_thumb_2_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_21" name="collision_hand_right_thumb_2_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_22" name="collision_hand_right_thumb_2_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_23" name="collision_hand_right_thumb_2_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_24" name="collision_hand_right_thumb_2_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_25" name="collision_hand_right_thumb_2_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_26" name="collision_hand_right_thumb_2_right_object_26" 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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_17" name="collision_hand_right_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_18" name="collision_hand_right_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_19" name="collision_hand_right_thumb_1_right_object_19" 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_20" name="collision_hand_right_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_21" name="collision_hand_right_thumb_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_22" name="collision_hand_right_thumb_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_23" name="collision_hand_right_thumb_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_24" name="collision_hand_right_thumb_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_25" name="collision_hand_right_thumb_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_26" name="collision_hand_right_thumb_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_17" name="collision_hand_right_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_18" name="collision_hand_right_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_19" name="collision_hand_right_thumb_0_right_object_19" 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_20" name="collision_hand_right_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_21" name="collision_hand_right_thumb_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_22" name="collision_hand_right_thumb_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_23" name="collision_hand_right_thumb_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_24" name="collision_hand_right_thumb_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_25" name="collision_hand_right_thumb_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_26" name="collision_hand_right_thumb_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_17" name="collision_hand_right_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_18" name="collision_hand_right_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_19" name="collision_hand_right_index_1_right_object_19" 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_20" name="collision_hand_right_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_21" name="collision_hand_right_index_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_22" name="collision_hand_right_index_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_23" name="collision_hand_right_index_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_24" name="collision_hand_right_index_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_25" name="collision_hand_right_index_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_26" name="collision_hand_right_index_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_17" name="collision_hand_right_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_18" name="collision_hand_right_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_19" name="collision_hand_right_index_0_right_object_19" 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_20" name="collision_hand_right_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_21" name="collision_hand_right_index_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_22" name="collision_hand_right_index_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_23" name="collision_hand_right_index_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_24" name="collision_hand_right_index_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_25" name="collision_hand_right_index_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_26" name="collision_hand_right_index_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_17" name="collision_hand_right_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_18" name="collision_hand_right_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_19" name="collision_hand_right_middle_1_right_object_19" 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_20" name="collision_hand_right_middle_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_21" name="collision_hand_right_middle_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_22" name="collision_hand_right_middle_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_23" name="collision_hand_right_middle_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_24" name="collision_hand_right_middle_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_25" name="collision_hand_right_middle_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_26" name="collision_hand_right_middle_1_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_17" name="collision_hand_right_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_18" name="collision_hand_right_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_19" name="collision_hand_right_middle_0_right_object_19" 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_20" name="collision_hand_right_middle_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_21" name="collision_hand_right_middle_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_22" name="collision_hand_right_middle_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_23" name="collision_hand_right_middle_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_24" name="collision_hand_right_middle_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_25" name="collision_hand_right_middle_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_26" name="collision_hand_right_middle_0_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_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_17" name="collision_hand_right_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_18" name="collision_hand_right_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_19" name="collision_hand_right_ring_1_right_object_19" 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_20" name="collision_hand_right_ring_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_21" name="collision_hand_right_ring_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_22" name="collision_hand_right_ring_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_23" name="collision_hand_right_ring_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_24" name="collision_hand_right_ring_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_25" name="collision_hand_right_ring_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_26" name="collision_hand_right_ring_1_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_17" name="collision_hand_right_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_18" name="collision_hand_right_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_19" name="collision_hand_right_ring_0_right_object_19" 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_20" name="collision_hand_right_ring_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_21" name="collision_hand_right_ring_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_22" name="collision_hand_right_ring_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_23" name="collision_hand_right_ring_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_24" name="collision_hand_right_ring_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_25" name="collision_hand_right_ring_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_26" name="collision_hand_right_ring_0_right_object_26" 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_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_17" name="collision_hand_right_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_18" name="collision_hand_right_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_19" name="collision_hand_right_pinky_1_right_object_19" 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_20" name="collision_hand_right_pinky_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_21" name="collision_hand_right_pinky_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_22" name="collision_hand_right_pinky_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_23" name="collision_hand_right_pinky_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_24" name="collision_hand_right_pinky_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_25" name="collision_hand_right_pinky_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_26" name="collision_hand_right_pinky_1_right_object_26" 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_16" name="collision_hand_right_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_17" name="collision_hand_right_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_18" name="collision_hand_right_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_19" name="collision_hand_right_pinky_0_right_object_19" 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_20" name="collision_hand_right_pinky_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_21" name="collision_hand_right_pinky_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_22" name="collision_hand_right_pinky_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_23" name="collision_hand_right_pinky_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_24" name="collision_hand_right_pinky_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_25" name="collision_hand_right_pinky_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_26" name="collision_hand_right_pinky_0_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_17" name="collision_hand_left_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_18" name="collision_hand_left_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_19" name="collision_hand_left_palm_0_right_object_19" 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_20" name="collision_hand_left_palm_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_21" name="collision_hand_left_palm_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_22" name="collision_hand_left_palm_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_23" name="collision_hand_left_palm_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_24" name="collision_hand_left_palm_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_25" name="collision_hand_left_palm_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_26" name="collision_hand_left_palm_0_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_17" name="collision_hand_left_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_18" name="collision_hand_left_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_19" name="collision_hand_left_thumb_2_right_object_19" 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_20" name="collision_hand_left_thumb_2_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_21" name="collision_hand_left_thumb_2_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_22" name="collision_hand_left_thumb_2_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_23" name="collision_hand_left_thumb_2_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_24" name="collision_hand_left_thumb_2_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_25" name="collision_hand_left_thumb_2_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_26" name="collision_hand_left_thumb_2_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_17" name="collision_hand_left_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_18" name="collision_hand_left_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_19" name="collision_hand_left_thumb_1_right_object_19" 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_20" name="collision_hand_left_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_21" name="collision_hand_left_thumb_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_22" name="collision_hand_left_thumb_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_23" name="collision_hand_left_thumb_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_24" name="collision_hand_left_thumb_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_25" name="collision_hand_left_thumb_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_26" name="collision_hand_left_thumb_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_17" name="collision_hand_left_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_18" name="collision_hand_left_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_19" name="collision_hand_left_thumb_0_right_object_19" 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_20" name="collision_hand_left_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_21" name="collision_hand_left_thumb_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_22" name="collision_hand_left_thumb_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_23" name="collision_hand_left_thumb_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_24" name="collision_hand_left_thumb_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_25" name="collision_hand_left_thumb_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_26" name="collision_hand_left_thumb_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_17" name="collision_hand_left_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_18" name="collision_hand_left_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_19" name="collision_hand_left_index_1_right_object_19" 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_20" name="collision_hand_left_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_21" name="collision_hand_left_index_1_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_22" name="collision_hand_left_index_1_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_23" name="collision_hand_left_index_1_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_24" name="collision_hand_left_index_1_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_25" name="collision_hand_left_index_1_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_26" name="collision_hand_left_index_1_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_17" name="collision_hand_left_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_18" name="collision_hand_left_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_19" name="collision_hand_left_index_0_right_object_19" 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_20" name="collision_hand_left_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_21" name="collision_hand_left_index_0_right_object_21" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_22" name="collision_hand_left_index_0_right_object_22" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_23" name="collision_hand_left_index_0_right_object_23" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_24" name="collision_hand_left_index_0_right_object_24" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_25" name="collision_hand_left_index_0_right_object_25" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_26" name="collision_hand_left_index_0_right_object_26" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_17" name="collision_hand_left_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_18" name="collision_hand_left_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_19" name="collision_hand_left_middle_1_right_object_19" 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_20" name="collision_hand_left_middle_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_21" name="collision_hand_left_middle_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_22" name="collision_hand_left_middle_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_23" name="collision_hand_left_middle_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_24" name="collision_hand_left_middle_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_25" name="collision_hand_left_middle_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_26" name="collision_hand_left_middle_1_right_object_26" 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_17" name="collision_hand_left_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_18" name="collision_hand_left_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_19" name="collision_hand_left_middle_0_right_object_19" 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_20" name="collision_hand_left_middle_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_21" name="collision_hand_left_middle_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_22" name="collision_hand_left_middle_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_23" name="collision_hand_left_middle_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_24" name="collision_hand_left_middle_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_25" name="collision_hand_left_middle_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_26" name="collision_hand_left_middle_0_right_object_26" 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_17" name="collision_hand_left_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_18" name="collision_hand_left_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_19" name="collision_hand_left_ring_1_right_object_19" 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_20" name="collision_hand_left_ring_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_21" name="collision_hand_left_ring_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_22" name="collision_hand_left_ring_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_23" name="collision_hand_left_ring_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_24" name="collision_hand_left_ring_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_25" name="collision_hand_left_ring_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_26" name="collision_hand_left_ring_1_right_object_26" 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_17" name="collision_hand_left_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_18" name="collision_hand_left_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_19" name="collision_hand_left_ring_0_right_object_19" 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_20" name="collision_hand_left_ring_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_21" name="collision_hand_left_ring_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_22" name="collision_hand_left_ring_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_23" name="collision_hand_left_ring_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_24" name="collision_hand_left_ring_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_25" name="collision_hand_left_ring_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_26" name="collision_hand_left_ring_0_right_object_26" 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_17" name="collision_hand_left_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_18" name="collision_hand_left_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_19" name="collision_hand_left_pinky_1_right_object_19" 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_20" name="collision_hand_left_pinky_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_21" name="collision_hand_left_pinky_1_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_22" name="collision_hand_left_pinky_1_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_23" name="collision_hand_left_pinky_1_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_24" name="collision_hand_left_pinky_1_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_25" name="collision_hand_left_pinky_1_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_26" name="collision_hand_left_pinky_1_right_object_26" 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_17" name="collision_hand_left_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_18" name="collision_hand_left_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_19" name="collision_hand_left_pinky_0_right_object_19" 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_20" name="collision_hand_left_pinky_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_21" name="collision_hand_left_pinky_0_right_object_21" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_22" name="collision_hand_left_pinky_0_right_object_22" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_23" name="collision_hand_left_pinky_0_right_object_23" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_24" name="collision_hand_left_pinky_0_right_object_24" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_25" name="collision_hand_left_pinky_0_right_object_25" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_26" name="collision_hand_left_pinky_0_right_object_26" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_index_tip_equality_constraint" site1="track_hand_left_index_tip" site2="ref_hand_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_middle_tip_equality_constraint" site1="track_hand_left_middle_tip" site2="ref_hand_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_ring_tip_equality_constraint" site1="track_hand_left_ring_tip" site2="ref_hand_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_pinky_tip_equality_constraint" site1="track_hand_left_pinky_tip" site2="ref_hand_left_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_thumb_tip_equality_constraint" site1="track_object_left_thumb_tip" site2="ref_object_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_index_tip_equality_constraint" site1="track_object_left_index_tip" site2="ref_object_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_middle_tip_equality_constraint" site1="track_object_left_middle_tip" site2="ref_object_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_ring_tip_equality_constraint" site1="track_object_left_ring_tip" site2="ref_object_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_pinky_tip_equality_constraint" site1="track_object_left_pinky_tip" site2="ref_object_left_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-box_use_01/task_info.json b/processed/arcticv2/xhand/bimanual/s01-box_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..238475caddb1c22e58d558e74ea14e03a2c959cb
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-box_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-box_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/box_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 121,
+  "obj_first_frame_lowest_world_z": 1.3877787807814457e-17,
+  "scene_lowest_world_z": -0.022415896197524487,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9527014692032008,
+  "arctic_subject": "s01",
+  "arctic_object": "box",
+  "arctic_clip_use": "box_use_01",
+  "arctic_frame_range": [
+    3,
+    124
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000014,
+  "right_plate_bottom_world_z": 1.3877787807814457e-17,
+  "right_obj_first_frame_xy": [
+    -0.14784286044292677,
+    -0.04123604678031278
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/box_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/config.yaml b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dab9198c64aa2890d4c8c1f5b9f95091ddcecb3d
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/config.yaml
@@ -0,0 +1,132 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: s01-ketchup_use_01
+seed: 0
+sanity_check_seconds: 0.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
+dataset_dir: example_datasets
+dataset_name: arcticv2
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.03333333333333333
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 202
+nconmax_per_env: 256
+njmax_per_env: 768
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 2.5
+max_local_retries: 3
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: mujoco-rerun
+wait_on_finish: true
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: 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: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 426
+beta_traj: 0.31622776601683794
+output_dir: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_ikrollout.npz b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21fff58f48298b6a82d3fe76c99ad2992474982b
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbff3930e08aaa7a1a817bed325d6990897de64a5fca21f98dd54218f10d2f3d
+size 40662
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_kinematic.npz b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b628879b26316cbd0c5a2b9481c5be60a0b37c54
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e7f695be83aa01489c6522769a43486293e5ce8a21cc4d91cd04ed3309b47a
+size 79944
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_mjwp_fast.npz b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4d0a884c2405e16b7ee9336e56272a823ab1691e
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5603e88193509b0eb1e724a2d7842758c454ef43be2d5a0b503f53fee2cdf6c3
+size 329707
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/visualization_ik.mp4 b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce9f02cc691295afac26355ce76778c63e56dae6
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcac44900d4cae49e0a93faaa6ced24c78f3db1e01848cbb29c3ba71eb875d9f
+size 105260
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/visualization_mjwp_fast.mp4 b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbe0f3c4fbfad3c0fb9957d3fe1460f96d6b8a35
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37a79a63699ed6fbc961a22bcc5e0806258415d9f22fe2dd55ddacffb224c06e
+size 137342
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/scene.xml b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..924063c692bbad0035d902ac52add1d47b2f4992
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/scene.xml
@@ -0,0 +1,866 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/ketchup_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/ketchup_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/ketchup_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/ketchup_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/ketchup_bottom/convex/11.obj"/>
+    <mesh name="right_2" file="objects/ketchup_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/ketchup_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/ketchup_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/ketchup_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/ketchup_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/ketchup_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/ketchup_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/ketchup_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_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_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_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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_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_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_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_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_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_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_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_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_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_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_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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/scene_eq.xml b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2b6bac0f042e20b7a5cb995f3a746823a00c6aaa
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/scene_eq.xml
@@ -0,0 +1,889 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/ketchup_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/ketchup_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/ketchup_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/ketchup_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/ketchup_bottom/convex/11.obj"/>
+    <mesh name="right_2" file="objects/ketchup_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/ketchup_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/ketchup_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/ketchup_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/ketchup_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/ketchup_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/ketchup_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/ketchup_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_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_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_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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_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_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_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_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_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_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_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_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_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_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_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_index_tip_equality_constraint" site1="track_hand_left_index_tip" site2="ref_hand_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_middle_tip_equality_constraint" site1="track_hand_left_middle_tip" site2="ref_hand_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_ring_tip_equality_constraint" site1="track_hand_left_ring_tip" site2="ref_hand_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_pinky_tip_equality_constraint" site1="track_hand_left_pinky_tip" site2="ref_hand_left_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_thumb_tip_equality_constraint" site1="track_object_left_thumb_tip" site2="ref_object_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_index_tip_equality_constraint" site1="track_object_left_index_tip" site2="ref_object_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_middle_tip_equality_constraint" site1="track_object_left_middle_tip" site2="ref_object_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_ring_tip_equality_constraint" site1="track_object_left_ring_tip" site2="ref_object_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_pinky_tip_equality_constraint" site1="track_object_left_pinky_tip" site2="ref_object_left_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/task_info.json b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bca3af9962146d982487f085b297cc5498cdce8
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-ketchup_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-ketchup_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/ketchup_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 105,
+  "obj_first_frame_lowest_world_z": 2.7755575615628914e-17,
+  "scene_lowest_world_z": -2.989524112678721e-05,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9528551248291879,
+  "arctic_subject": "s01",
+  "arctic_object": "ketchup",
+  "arctic_clip_use": "ketchup_use_01",
+  "arctic_frame_range": [
+    0,
+    105
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000028,
+  "right_plate_bottom_world_z": 2.7755575615628914e-17,
+  "right_obj_first_frame_xy": [
+    0.0232526847791525,
+    -0.05787617321110399
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/ketchup_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/config.yaml b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f95cc6753a8a8d7fe72644ee459e28592a326776
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/config.yaml
@@ -0,0 +1,132 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: s01-laptop_use_01
+seed: 0
+sanity_check_seconds: 0.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
+dataset_dir: example_datasets
+dataset_name: arcticv2
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.03333333333333333
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 202
+nconmax_per_env: 256
+njmax_per_env: 768
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 2.5
+max_local_retries: 3
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: mujoco-rerun
+wait_on_finish: true
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: 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: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 651
+beta_traj: 0.31622776601683794
+output_dir: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_ikrollout.npz b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bee733250991daedb7c7828b73cd07b752d7f882
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bc427141568681dbcb7e899b9b263e05526a4c8f528100c36bdd711a77b5d48
+size 40662
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_kinematic.npz b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8dee20177d91cc9d927a97af14705225e7d14464
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788de1f940dbed39d2dbadbb636c4e565d92276955fb24bacbec45c57fe2fbfc
+size 79944
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_mjwp_fast.npz b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..116305c22b0af384cb2b19c7f74bc8caacc8eebc
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b4fcb04fbb469c447c71ec636c9f8e303fb8331c10aaaef0cd484f45d70ff1
+size 626572
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/visualization_ik.mp4 b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..964680c4703940da08fe5fce7de0109e95086fe1
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:069e52f3aec4375420a01ed3d150a95343fe5c0451709b389086a5c3bc12aed0
+size 101200
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/visualization_mjwp_fast.mp4 b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..781efcd248f309340f7f5d4ebe0ef42e721f8cdd
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d90a217ef5456de803876e57f759a06282bed52f1d25cf9edf7b74681b0f5449
+size 193211
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/scene.xml b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..296f324824890a9cd1adc3cb6d3ddfd185130a18
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/scene.xml
@@ -0,0 +1,1109 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/laptop_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/laptop_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/laptop_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/laptop_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/laptop_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/laptop_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/laptop_bottom/convex/13.obj"/>
+    <mesh name="right_14" file="objects/laptop_bottom/convex/14.obj"/>
+    <mesh name="right_15" file="objects/laptop_bottom/convex/15.obj"/>
+    <mesh name="right_16" file="objects/laptop_bottom/convex/16.obj"/>
+    <mesh name="right_17" file="objects/laptop_bottom/convex/17.obj"/>
+    <mesh name="right_18" file="objects/laptop_bottom/convex/18.obj"/>
+    <mesh name="right_19" file="objects/laptop_bottom/convex/19.obj"/>
+    <mesh name="right_2" file="objects/laptop_bottom/convex/2.obj"/>
+    <mesh name="right_20" file="objects/laptop_bottom/convex/20.obj"/>
+    <mesh name="right_3" file="objects/laptop_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/laptop_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/laptop_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/laptop_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/laptop_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/laptop_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/laptop_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <geom name="right_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_17"/>
+      <geom name="right_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_18"/>
+      <geom name="right_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_19"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_20" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_20"/>
+      <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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_17" name="floor_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_18" name="floor_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_19" name="floor_right_object_19" 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_20" name="floor_right_object_20" 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_17" name="collision_hand_right_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_18" name="collision_hand_right_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_19" name="collision_hand_right_palm_0_right_object_19" 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_20" name="collision_hand_right_palm_0_right_object_20" 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_17" name="collision_hand_right_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_18" name="collision_hand_right_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_19" name="collision_hand_right_thumb_2_right_object_19" 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_20" name="collision_hand_right_thumb_2_right_object_20" 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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_17" name="collision_hand_right_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_18" name="collision_hand_right_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_19" name="collision_hand_right_thumb_1_right_object_19" 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_20" name="collision_hand_right_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_17" name="collision_hand_right_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_18" name="collision_hand_right_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_19" name="collision_hand_right_thumb_0_right_object_19" 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_20" name="collision_hand_right_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_17" name="collision_hand_right_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_18" name="collision_hand_right_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_19" name="collision_hand_right_index_1_right_object_19" 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_20" name="collision_hand_right_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_17" name="collision_hand_right_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_18" name="collision_hand_right_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_19" name="collision_hand_right_index_0_right_object_19" 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_20" name="collision_hand_right_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_17" name="collision_hand_right_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_18" name="collision_hand_right_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_19" name="collision_hand_right_middle_1_right_object_19" 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_20" name="collision_hand_right_middle_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_17" name="collision_hand_right_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_18" name="collision_hand_right_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_19" name="collision_hand_right_middle_0_right_object_19" 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_20" name="collision_hand_right_middle_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_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_17" name="collision_hand_right_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_18" name="collision_hand_right_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_19" name="collision_hand_right_ring_1_right_object_19" 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_20" name="collision_hand_right_ring_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_17" name="collision_hand_right_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_18" name="collision_hand_right_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_19" name="collision_hand_right_ring_0_right_object_19" 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_20" name="collision_hand_right_ring_0_right_object_20" 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_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_17" name="collision_hand_right_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_18" name="collision_hand_right_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_19" name="collision_hand_right_pinky_1_right_object_19" 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_20" name="collision_hand_right_pinky_1_right_object_20" 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_16" name="collision_hand_right_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_17" name="collision_hand_right_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_18" name="collision_hand_right_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_19" name="collision_hand_right_pinky_0_right_object_19" 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_20" name="collision_hand_right_pinky_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_17" name="collision_hand_left_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_18" name="collision_hand_left_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_19" name="collision_hand_left_palm_0_right_object_19" 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_20" name="collision_hand_left_palm_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_17" name="collision_hand_left_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_18" name="collision_hand_left_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_19" name="collision_hand_left_thumb_2_right_object_19" 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_20" name="collision_hand_left_thumb_2_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_17" name="collision_hand_left_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_18" name="collision_hand_left_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_19" name="collision_hand_left_thumb_1_right_object_19" 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_20" name="collision_hand_left_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_17" name="collision_hand_left_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_18" name="collision_hand_left_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_19" name="collision_hand_left_thumb_0_right_object_19" 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_20" name="collision_hand_left_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_17" name="collision_hand_left_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_18" name="collision_hand_left_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_19" name="collision_hand_left_index_1_right_object_19" 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_20" name="collision_hand_left_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_17" name="collision_hand_left_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_18" name="collision_hand_left_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_19" name="collision_hand_left_index_0_right_object_19" 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_20" name="collision_hand_left_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_17" name="collision_hand_left_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_18" name="collision_hand_left_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_19" name="collision_hand_left_middle_1_right_object_19" 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_20" name="collision_hand_left_middle_1_right_object_20" 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_17" name="collision_hand_left_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_18" name="collision_hand_left_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_19" name="collision_hand_left_middle_0_right_object_19" 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_20" name="collision_hand_left_middle_0_right_object_20" 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_17" name="collision_hand_left_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_18" name="collision_hand_left_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_19" name="collision_hand_left_ring_1_right_object_19" 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_20" name="collision_hand_left_ring_1_right_object_20" 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_17" name="collision_hand_left_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_18" name="collision_hand_left_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_19" name="collision_hand_left_ring_0_right_object_19" 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_20" name="collision_hand_left_ring_0_right_object_20" 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_17" name="collision_hand_left_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_18" name="collision_hand_left_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_19" name="collision_hand_left_pinky_1_right_object_19" 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_20" name="collision_hand_left_pinky_1_right_object_20" 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_17" name="collision_hand_left_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_18" name="collision_hand_left_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_19" name="collision_hand_left_pinky_0_right_object_19" 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_20" name="collision_hand_left_pinky_0_right_object_20" 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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/scene_eq.xml b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..185562c3973feb92a9207df8e43c3a0f45ffa18b
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/scene_eq.xml
@@ -0,0 +1,1132 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/laptop_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/laptop_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/laptop_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/laptop_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/laptop_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/laptop_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/laptop_bottom/convex/13.obj"/>
+    <mesh name="right_14" file="objects/laptop_bottom/convex/14.obj"/>
+    <mesh name="right_15" file="objects/laptop_bottom/convex/15.obj"/>
+    <mesh name="right_16" file="objects/laptop_bottom/convex/16.obj"/>
+    <mesh name="right_17" file="objects/laptop_bottom/convex/17.obj"/>
+    <mesh name="right_18" file="objects/laptop_bottom/convex/18.obj"/>
+    <mesh name="right_19" file="objects/laptop_bottom/convex/19.obj"/>
+    <mesh name="right_2" file="objects/laptop_bottom/convex/2.obj"/>
+    <mesh name="right_20" file="objects/laptop_bottom/convex/20.obj"/>
+    <mesh name="right_3" file="objects/laptop_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/laptop_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/laptop_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/laptop_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/laptop_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/laptop_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/laptop_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_16" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_16"/>
+      <geom name="right_object_17" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_17"/>
+      <geom name="right_object_18" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_18"/>
+      <geom name="right_object_19" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_19"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_20" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_20"/>
+      <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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_17" name="floor_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_18" name="floor_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_19" name="floor_right_object_19" 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_20" name="floor_right_object_20" 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_17" name="collision_hand_right_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_18" name="collision_hand_right_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_19" name="collision_hand_right_palm_0_right_object_19" 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_20" name="collision_hand_right_palm_0_right_object_20" 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_17" name="collision_hand_right_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_18" name="collision_hand_right_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_19" name="collision_hand_right_thumb_2_right_object_19" 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_20" name="collision_hand_right_thumb_2_right_object_20" 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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_17" name="collision_hand_right_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_18" name="collision_hand_right_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_19" name="collision_hand_right_thumb_1_right_object_19" 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_20" name="collision_hand_right_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_17" name="collision_hand_right_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_18" name="collision_hand_right_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_19" name="collision_hand_right_thumb_0_right_object_19" 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_20" name="collision_hand_right_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_17" name="collision_hand_right_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_18" name="collision_hand_right_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_19" name="collision_hand_right_index_1_right_object_19" 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_20" name="collision_hand_right_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_17" name="collision_hand_right_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_18" name="collision_hand_right_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_19" name="collision_hand_right_index_0_right_object_19" 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_20" name="collision_hand_right_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_17" name="collision_hand_right_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_18" name="collision_hand_right_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_19" name="collision_hand_right_middle_1_right_object_19" 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_20" name="collision_hand_right_middle_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_17" name="collision_hand_right_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_18" name="collision_hand_right_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_19" name="collision_hand_right_middle_0_right_object_19" 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_20" name="collision_hand_right_middle_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_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_17" name="collision_hand_right_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_18" name="collision_hand_right_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_19" name="collision_hand_right_ring_1_right_object_19" 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_20" name="collision_hand_right_ring_1_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_17" name="collision_hand_right_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_18" name="collision_hand_right_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_19" name="collision_hand_right_ring_0_right_object_19" 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_20" name="collision_hand_right_ring_0_right_object_20" 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_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_17" name="collision_hand_right_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_18" name="collision_hand_right_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_19" name="collision_hand_right_pinky_1_right_object_19" 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_20" name="collision_hand_right_pinky_1_right_object_20" 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_16" name="collision_hand_right_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_17" name="collision_hand_right_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_18" name="collision_hand_right_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_19" name="collision_hand_right_pinky_0_right_object_19" 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_20" name="collision_hand_right_pinky_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_17" name="collision_hand_left_palm_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_18" name="collision_hand_left_palm_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_19" name="collision_hand_left_palm_0_right_object_19" 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_20" name="collision_hand_left_palm_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_17" name="collision_hand_left_thumb_2_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_18" name="collision_hand_left_thumb_2_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_19" name="collision_hand_left_thumb_2_right_object_19" 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_20" name="collision_hand_left_thumb_2_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_17" name="collision_hand_left_thumb_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_18" name="collision_hand_left_thumb_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_19" name="collision_hand_left_thumb_1_right_object_19" 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_20" name="collision_hand_left_thumb_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_17" name="collision_hand_left_thumb_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_18" name="collision_hand_left_thumb_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_19" name="collision_hand_left_thumb_0_right_object_19" 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_20" name="collision_hand_left_thumb_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_17" name="collision_hand_left_index_1_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_18" name="collision_hand_left_index_1_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_19" name="collision_hand_left_index_1_right_object_19" 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_20" name="collision_hand_left_index_1_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_17" name="collision_hand_left_index_0_right_object_17" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_18" name="collision_hand_left_index_0_right_object_18" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_19" name="collision_hand_left_index_0_right_object_19" 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_20" name="collision_hand_left_index_0_right_object_20" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_17" name="collision_hand_left_middle_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_18" name="collision_hand_left_middle_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_19" name="collision_hand_left_middle_1_right_object_19" 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_20" name="collision_hand_left_middle_1_right_object_20" 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_17" name="collision_hand_left_middle_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_18" name="collision_hand_left_middle_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_19" name="collision_hand_left_middle_0_right_object_19" 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_20" name="collision_hand_left_middle_0_right_object_20" 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_17" name="collision_hand_left_ring_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_18" name="collision_hand_left_ring_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_19" name="collision_hand_left_ring_1_right_object_19" 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_20" name="collision_hand_left_ring_1_right_object_20" 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_17" name="collision_hand_left_ring_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_18" name="collision_hand_left_ring_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_19" name="collision_hand_left_ring_0_right_object_19" 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_20" name="collision_hand_left_ring_0_right_object_20" 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_17" name="collision_hand_left_pinky_1_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_18" name="collision_hand_left_pinky_1_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_19" name="collision_hand_left_pinky_1_right_object_19" 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_20" name="collision_hand_left_pinky_1_right_object_20" 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_17" name="collision_hand_left_pinky_0_right_object_17" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_18" name="collision_hand_left_pinky_0_right_object_18" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_19" name="collision_hand_left_pinky_0_right_object_19" 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_20" name="collision_hand_left_pinky_0_right_object_20" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_index_tip_equality_constraint" site1="track_hand_left_index_tip" site2="ref_hand_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_middle_tip_equality_constraint" site1="track_hand_left_middle_tip" site2="ref_hand_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_ring_tip_equality_constraint" site1="track_hand_left_ring_tip" site2="ref_hand_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_pinky_tip_equality_constraint" site1="track_hand_left_pinky_tip" site2="ref_hand_left_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_thumb_tip_equality_constraint" site1="track_object_left_thumb_tip" site2="ref_object_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_index_tip_equality_constraint" site1="track_object_left_index_tip" site2="ref_object_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_middle_tip_equality_constraint" site1="track_object_left_middle_tip" site2="ref_object_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_ring_tip_equality_constraint" site1="track_object_left_ring_tip" site2="ref_object_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_pinky_tip_equality_constraint" site1="track_object_left_pinky_tip" site2="ref_object_left_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/task_info.json b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a01503f36d7e5b08c7dec12ab0056d282ddc25d5
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-laptop_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-laptop_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/laptop_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 105,
+  "obj_first_frame_lowest_world_z": 3.8163916471489756e-17,
+  "scene_lowest_world_z": -0.05869253809785657,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9496782058033925,
+  "arctic_subject": "s01",
+  "arctic_object": "laptop",
+  "arctic_clip_use": "laptop_use_01",
+  "arctic_frame_range": [
+    0,
+    105
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000038,
+  "right_plate_bottom_world_z": 3.8163916471489756e-17,
+  "right_obj_first_frame_xy": [
+    -0.13751378239473916,
+    0.02359432289956002
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/laptop_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/config.yaml
similarity index 70%
rename from processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml
rename to processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/config.yaml
index 786f975792bcd2621da2b5c4f9e8a89df915b3c5..2255a781cb0189ce3d50f4a75f61b2843d25f510 100644
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/config.yaml
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/config.yaml
@@ -1,24 +1,27 @@
-robot_type: sharpa
-embodiment_type: right
-task: uncap_alcohol_burner
+robot_type: xhand
+embodiment_type: bimanual
+task: s01-mixer_use_01
 seed: 0
+sanity_check_seconds: 0.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
-dataset_name: oakinkv2
+dataset_name: arcticv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
 sim_dt: 0.01
 ctrl_dt: 1.5
-ref_dt: 0.02
+ref_dt: 0.03333333333333333
 render_dt: 0.02
 horizon: 3.0
 knot_dt: 1.0
-max_sim_steps: 392
-nconmax_per_env: 120
-njmax_per_env: 350
+max_sim_steps: 234
+nconmax_per_env: 256
+njmax_per_env: 768
 num_dyn: 1
 num_dr: 1
 pair_margin_range:
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 2.5
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,26 +86,32 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
-wait_on_finish: false
+show_viewer: false
+viewer: mujoco-rerun
+wait_on_finish: true
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
 num_trace_uniform_samples: 4
 num_trace_topk_samples: 2
 trace_site_ids:
-- 12
-- 1
+- 33
+- 55
 - 3
-- 5
-- 7
+- 6
 - 9
+- 12
+- 15
+- 19
+- 22
+- 25
+- 28
+- 31
 contact_order: []
 hand_contact_site_ids: []
 right_contact_indices: []
@@ -114,10 +123,10 @@ horizon_steps: 300
 knot_steps: 100
 ref_steps: 2
 ctrl_steps: 150
-nq_obj: 7
-nq: 35
-nv: 34
-nu: 28
-npair: 125
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 551
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0
+output_dir: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_ikrollout.npz b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..820f98780544277c1aa0506de08288229fd66157
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65fb27cc5e37f0dc9e0dc3670da2d03498d606cec50b6f614834d9c47b81700a
+size 47062
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_kinematic.npz b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..321aba40c39c730c11bb53a0d0041e39b1bceeaa
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52cd3eb09d76f76201d2b5d50d0f2f7ce05377778febf20405981f69e9975e45
+size 92488
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_mjwp_fast.npz b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..197754e66e19ac2f6179b2a1be7481a4f8557be4
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db771e15efeff2d1b9578776b73d0f4880f109bbd71d432454acb16031d392da
+size 626572
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/visualization_ik.mp4 b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf1654ee493abfbab2287ae961138b1b256c2638
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b3e55e7184204883aefe927a2ca66c87a5705d339171bdb8a985cf411b0903
+size 116719
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/visualization_mjwp_fast.mp4 b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3547a011c8c5b80be435213994451872571c1528
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5999adc532f49b831225911740889635510a6e2cf27d2f0f6d52773e02211c
+size 214707
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/scene.xml b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..39c16c0083159f28a03659171b9ba993e16805ad
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/scene.xml
@@ -0,0 +1,1001 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/mixer_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/mixer_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/mixer_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/mixer_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/mixer_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/mixer_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/mixer_bottom/convex/13.obj"/>
+    <mesh name="right_14" file="objects/mixer_bottom/convex/14.obj"/>
+    <mesh name="right_15" file="objects/mixer_bottom/convex/15.obj"/>
+    <mesh name="right_16" file="objects/mixer_bottom/convex/16.obj"/>
+    <mesh name="right_2" file="objects/mixer_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/mixer_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/mixer_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/mixer_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/mixer_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/mixer_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/mixer_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/mixer_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_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 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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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_16" name="collision_hand_right_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <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_16" name="collision_hand_right_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <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_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/scene_eq.xml b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6725838d017dda3d12f8c739eb6987f505342469
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/scene_eq.xml
@@ -0,0 +1,1024 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/mixer_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/mixer_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/mixer_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/mixer_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/mixer_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/mixer_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/mixer_bottom/convex/13.obj"/>
+    <mesh name="right_14" file="objects/mixer_bottom/convex/14.obj"/>
+    <mesh name="right_15" file="objects/mixer_bottom/convex/15.obj"/>
+    <mesh name="right_16" file="objects/mixer_bottom/convex/16.obj"/>
+    <mesh name="right_2" file="objects/mixer_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/mixer_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/mixer_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/mixer_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/mixer_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/mixer_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/mixer_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/mixer_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_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 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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_14" name="collision_hand_right_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_15" name="collision_hand_right_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_16" name="collision_hand_right_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_16" name="collision_hand_right_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_16" name="collision_hand_right_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_16" name="collision_hand_right_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_16" name="collision_hand_right_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_16" name="collision_hand_right_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_16" name="collision_hand_right_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_16" name="collision_hand_right_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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_16" name="collision_hand_right_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <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_16" name="collision_hand_right_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <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_16" name="collision_hand_left_palm_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_16" name="collision_hand_left_thumb_2_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_16" name="collision_hand_left_thumb_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_16" name="collision_hand_left_thumb_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_16" name="collision_hand_left_index_1_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_16" name="collision_hand_left_index_0_right_object_16" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_16" name="collision_hand_left_middle_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_16" name="collision_hand_left_middle_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_16" name="collision_hand_left_ring_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_16" name="collision_hand_left_ring_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_16" name="collision_hand_left_pinky_1_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_16" name="collision_hand_left_pinky_0_right_object_16" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_index_tip_equality_constraint" site1="track_hand_left_index_tip" site2="ref_hand_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_middle_tip_equality_constraint" site1="track_hand_left_middle_tip" site2="ref_hand_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_ring_tip_equality_constraint" site1="track_hand_left_ring_tip" site2="ref_hand_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_pinky_tip_equality_constraint" site1="track_hand_left_pinky_tip" site2="ref_hand_left_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_thumb_tip_equality_constraint" site1="track_object_left_thumb_tip" site2="ref_object_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_index_tip_equality_constraint" site1="track_object_left_index_tip" site2="ref_object_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_middle_tip_equality_constraint" site1="track_object_left_middle_tip" site2="ref_object_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_ring_tip_equality_constraint" site1="track_object_left_ring_tip" site2="ref_object_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_pinky_tip_equality_constraint" site1="track_object_left_pinky_tip" site2="ref_object_left_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/task_info.json b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6af5900933776213c5843b1d38d287d682dd516
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-mixer_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-mixer_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/mixer_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 121,
+  "obj_first_frame_lowest_world_z": 2.7755575615628914e-17,
+  "scene_lowest_world_z": -0.001086173621606873,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9511715300336863,
+  "arctic_subject": "s01",
+  "arctic_object": "mixer",
+  "arctic_clip_use": "mixer_use_01",
+  "arctic_frame_range": [
+    2,
+    123
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000028,
+  "right_plate_bottom_world_z": 2.7755575615628914e-17,
+  "right_obj_first_frame_xy": [
+    -0.05848913274607139,
+    -0.029340091279683626
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/mixer_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/config.yaml b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..91e3fb9b4ba6a8b2623e142935bbab4287ecbbcf
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/config.yaml
@@ -0,0 +1,132 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: s01-notebook_use_01
+seed: 0
+sanity_check_seconds: 0.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
+dataset_dir: example_datasets
+dataset_name: arcticv2
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.03333333333333333
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 208
+nconmax_per_env: 256
+njmax_per_env: 768
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 2.5
+max_local_retries: 3
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: mujoco-rerun
+wait_on_finish: true
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: 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: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 476
+beta_traj: 0.31622776601683794
+output_dir: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_ikrollout.npz b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..add0c305e787b50517864557ebfd02e6ff6280c6
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835bfabebcd899e4fa68aeccbc082f81c2573e163b36169162f457a55778d5fc
+size 41862
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_kinematic.npz b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96655a7b9fba7870c970f94fb655765917444d2e
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d9446023cc10089e92626ea4d12c531702a10e0f59b083aeedead0cf19ab45d
+size 82296
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_mjwp_fast.npz b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3f76864f176c5310d1f0187475d2d4b5c2f2f06b
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b905eb5ee3ea29e6f9cfaf6543b344fedd2d661ca4ea7499fc07608c389808
+size 626572
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/visualization_ik.mp4 b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4841b90e6c787ae2f4d15b22f404dd4661309f5f
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc9a0d2a4f44a773953e1740d42ee18ca5813d892a03a7bf101980cb95394a1
+size 106092
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/visualization_mjwp_fast.mp4 b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daee95ee19ee90af4b0a90c9848da46c15cd06a3
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1546a4893a2bad4974c4721ba06da81b14004c91ab32081349ea43a2fe741d3e
+size 202785
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/scene.xml b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..acbec6c3c5cec1ec47f58b120801ffc392bbb4de
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/scene.xml
@@ -0,0 +1,920 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/notebook_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/notebook_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/notebook_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/notebook_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/notebook_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/notebook_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/notebook_bottom/convex/13.obj"/>
+    <mesh name="right_2" file="objects/notebook_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/notebook_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/notebook_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/notebook_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/notebook_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/notebook_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/notebook_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/notebook_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_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_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_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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_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_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_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_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_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_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_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_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_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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/scene_eq.xml b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..396edf6f0e928952be489c6262b66d2070edc574
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/scene_eq.xml
@@ -0,0 +1,943 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/notebook_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/notebook_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/notebook_bottom/convex/1.obj"/>
+    <mesh name="right_10" file="objects/notebook_bottom/convex/10.obj"/>
+    <mesh name="right_11" file="objects/notebook_bottom/convex/11.obj"/>
+    <mesh name="right_12" file="objects/notebook_bottom/convex/12.obj"/>
+    <mesh name="right_13" file="objects/notebook_bottom/convex/13.obj"/>
+    <mesh name="right_2" file="objects/notebook_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/notebook_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/notebook_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/notebook_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/notebook_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/notebook_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/notebook_bottom/convex/8.obj"/>
+    <mesh name="right_9" file="objects/notebook_bottom/convex/9.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_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_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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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_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_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_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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_13" name="collision_hand_right_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <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_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_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_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_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_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_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_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_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_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_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_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_index_tip_equality_constraint" site1="track_hand_left_index_tip" site2="ref_hand_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_middle_tip_equality_constraint" site1="track_hand_left_middle_tip" site2="ref_hand_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_ring_tip_equality_constraint" site1="track_hand_left_ring_tip" site2="ref_hand_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_pinky_tip_equality_constraint" site1="track_hand_left_pinky_tip" site2="ref_hand_left_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_thumb_tip_equality_constraint" site1="track_object_left_thumb_tip" site2="ref_object_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_index_tip_equality_constraint" site1="track_object_left_index_tip" site2="ref_object_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_middle_tip_equality_constraint" site1="track_object_left_middle_tip" site2="ref_object_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_ring_tip_equality_constraint" site1="track_object_left_ring_tip" site2="ref_object_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_pinky_tip_equality_constraint" site1="track_object_left_pinky_tip" site2="ref_object_left_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/task_info.json b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6443b2f0b0ca8e93f3b9196001006b0e08cf51bb
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-notebook_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-notebook_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/notebook_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 108,
+  "obj_first_frame_lowest_world_z": 2.0816681711721685e-17,
+  "scene_lowest_world_z": -0.03966087605318136,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9514276435550124,
+  "arctic_subject": "s01",
+  "arctic_object": "notebook",
+  "arctic_clip_use": "notebook_use_01",
+  "arctic_frame_range": [
+    0,
+    108
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000021,
+  "right_plate_bottom_world_z": 2.0816681711721685e-17,
+  "right_obj_first_frame_xy": [
+    0.04282204443503827,
+    -0.009782770580009913
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/notebook_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/config.yaml b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..64b3c7136c0906f360b63cdba2282a4173fab9c1
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/config.yaml
@@ -0,0 +1,132 @@
+robot_type: xhand
+embodiment_type: bimanual
+task: s01-waffleiron_use_01
+seed: 0
+sanity_check_seconds: 0.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
+dataset_dir: example_datasets
+dataset_name: arcticv2
+data_id: 0
+model_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/../scene.xml
+data_path: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_kinematic.npz
+load_config_path: ''
+simulator: mjwp
+device: cuda:0
+sim_dt: 0.01
+ctrl_dt: 1.5
+ref_dt: 0.03333333333333333
+render_dt: 0.02
+horizon: 3.0
+knot_dt: 1.0
+max_sim_steps: 228
+nconmax_per_env: 256
+njmax_per_env: 768
+num_dyn: 1
+num_dr: 1
+pair_margin_range:
+- -0.005
+- 0.005
+xy_offset_range:
+- -0.005
+- 0.005
+perturb_force: 0.0
+perturb_torque: 0.0
+contact_guidance: false
+object_pos_actuator_names:
+- right_object_pos_x
+- right_object_pos_y
+- right_object_pos_z
+- left_object_pos_x
+- left_object_pos_y
+- left_object_pos_z
+object_rot_actuator_names:
+- right_object_rot_x
+- right_object_rot_y
+- right_object_rot_z
+- left_object_rot_x
+- left_object_rot_y
+- left_object_rot_z
+object_action_dims: 0
+object_actuator_ids: []
+object_actuator_names: []
+init_pos_actuator_gain: 10.0
+init_pos_actuator_bias: 10.0
+init_rot_actuator_gain: 0.1
+init_rot_actuator_bias: 0.1
+guidance_decay_ratio: 0.5
+gibbs_sampling: false
+num_samples: 1024
+temperature: 1.0
+max_num_iterations: 4
+improvement_threshold: -1.0
+improvement_check_steps: 2
+terminate_resample: false
+object_pos_threshold: 0.1
+object_rot_threshold: 2.5
+max_local_retries: 3
+max_revert_depth: 3
+base_pos_threshold: 0.5
+base_rot_threshold: 0.4
+use_torch_compile: true
+first_ctrl_noise_scale: 2.0
+last_ctrl_noise_scale: 4.0
+final_noise_scale: 0.01
+exploit_ratio: 0.01
+exploit_noise_scale: 0.01
+joint_noise_scale: 0.1
+pos_noise_scale: 0.01
+rot_noise_scale: 0.01
+use_rl_reward: false
+base_pos_rew_scale: 0.1
+base_rot_rew_scale: 0.03
+joint_rew_scale: 0.003
+pos_rew_scale: 1.0
+rot_rew_scale: 0.3
+vel_rew_scale: 0.0001
+terminal_rew_scale: 1.0
+contact_rew_scale: 0.0
+show_viewer: false
+viewer: mujoco-rerun
+wait_on_finish: true
+rerun_spawn: true
+save_video: true
+save_info: true
+save_rerun: false
+save_viser: 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: []
+hand_contact_site_ids: []
+right_contact_indices: []
+left_contact_indices: []
+right_pos_ctrl_ids: []
+left_pos_ctrl_ids: []
+contact_len: 0
+horizon_steps: 300
+knot_steps: 100
+ref_steps: 2
+ctrl_steps: 150
+nq_obj: 14
+nq: 50
+nv: 48
+nu: 36
+npair: 351
+beta_traj: 0.31622776601683794
+output_dir: /home/ubuntu/spider/example_datasets/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_ikrollout.npz b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b993bcf814c0c4356ff861af6ae2229e3d710802
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b483540857512764cceafecbb066bd058ec15b4059dd71bffaa16b5696a579fa
+size 45862
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_kinematic.npz b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3baa2eda6af324b5096e75073f12c540b6af9fe
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e872a109e531d89f670aeb6ffde8c7abd2c34fbb1e749d7fa9de44e857d318ba
+size 90136
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_mjwp_fast.npz b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_mjwp_fast.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8957c60223ce59946211ccaf55e1db157c5bea22
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/trajectory_mjwp_fast.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9434cf4f0d78585dfd23f6165cb7fcfa0d6c7c164b9ef4877f2cd263af097175
+size 329707
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/visualization_ik.mp4 b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eff86b65ab4ff11c9ae7ec7b5d57565d26888b25
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c32bab095becd1d29546c7f317a028d1bf6aa50f985aacc504f810283e7444
+size 117327
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/visualization_mjwp_fast.mp4 b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/visualization_mjwp_fast.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdb0bef0bb1a15b7af6c57f13ed11094e28924b3
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/0/visualization_mjwp_fast.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fffab7b0584b6f9e37f8fd872b1bb7d3e0f6f68f137cc0992c4e4546c3cf619
+size 140039
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/scene.xml b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2f4d499128510d831b9914a220c78d6c61c8e2b0
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/scene.xml
@@ -0,0 +1,785 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/waffleiron_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/waffleiron_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/waffleiron_bottom/convex/1.obj"/>
+    <mesh name="right_2" file="objects/waffleiron_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/waffleiron_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/waffleiron_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/waffleiron_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/waffleiron_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/waffleiron_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/waffleiron_bottom/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" 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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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="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_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_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_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="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_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="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="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="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_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_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_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_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_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_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_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/scene_eq.xml b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fae1ebd7db8b88abd5f2658404eaf92a07691795
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/scene_eq.xml
@@ -0,0 +1,808 @@
+<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" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"/>
+    <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/waffleiron_bottom/visual.obj"/>
+    <mesh name="right_0" file="objects/waffleiron_bottom/convex/0.obj"/>
+    <mesh name="right_1" file="objects/waffleiron_bottom/convex/1.obj"/>
+    <mesh name="right_2" file="objects/waffleiron_bottom/convex/2.obj"/>
+    <mesh name="right_3" file="objects/waffleiron_bottom/convex/3.obj"/>
+    <mesh name="right_4" file="objects/waffleiron_bottom/convex/4.obj"/>
+    <mesh name="right_5" file="objects/waffleiron_bottom/convex/5.obj"/>
+    <mesh name="right_6" file="objects/waffleiron_bottom/convex/6.obj"/>
+    <mesh name="right_7" file="objects/waffleiron_bottom/convex/7.obj"/>
+    <mesh name="right_8" file="objects/waffleiron_bottom/convex/8.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" 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_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" 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"/>
+      <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_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_joint" type="free" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" 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="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_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_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_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="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_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="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="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="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_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_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_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_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_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_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_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_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <equality>
+    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_index_tip_equality_constraint" site1="track_hand_left_index_tip" site2="ref_hand_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_middle_tip_equality_constraint" site1="track_hand_left_middle_tip" site2="ref_hand_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_ring_tip_equality_constraint" site1="track_hand_left_ring_tip" site2="ref_hand_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_hand_left_pinky_tip_equality_constraint" site1="track_hand_left_pinky_tip" site2="ref_hand_left_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_thumb_tip_equality_constraint" site1="track_object_left_thumb_tip" site2="ref_object_left_thumb_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_index_tip_equality_constraint" site1="track_object_left_index_tip" site2="ref_object_left_index_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_middle_tip_equality_constraint" site1="track_object_left_middle_tip" site2="ref_object_left_middle_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_ring_tip_equality_constraint" site1="track_object_left_ring_tip" site2="ref_object_left_ring_tip" solimp="0 1 100"/>
+    <connect name="track_object_left_pinky_tip_equality_constraint" site1="track_object_left_pinky_tip" site2="ref_object_left_pinky_tip" solimp="0 1 100"/>
+  </equality>
+
+  <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"/>
+  </actuator>
+</mujoco>
diff --git a/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/task_info.json b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a56b9646faa313bff527d44c1def9c6c97b0f5e
--- /dev/null
+++ b/processed/arcticv2/xhand/bimanual/s01-waffleiron_use_01/task_info.json
@@ -0,0 +1,36 @@
+{
+  "task": "s01-waffleiron_use_01",
+  "dataset_name": "arcticv2",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/arcticv2/assets/objects/waffleiron_bottom",
+  "left_object_mesh_dir": null,
+  "ref_dt": 0.03333333333333333,
+  "n_frames": 118,
+  "obj_first_frame_lowest_world_z": 2.7755575615628914e-17,
+  "scene_lowest_world_z": -0.036385217851336416,
+  "object_descends_from_frame0": false,
+  "z_offset_applied": -0.9512660896241025,
+  "arctic_subject": "s01",
+  "arctic_object": "waffleiron",
+  "arctic_clip_use": "waffleiron_use_01",
+  "arctic_frame_range": [
+    0,
+    118
+  ],
+  "active_hand": "both",
+  "pre_grasp_seconds": 2.0,
+  "post_lift_seconds": 2.0,
+  "motion_thresh_m": 0.02,
+  "articulation_discarded": true,
+  "right_plate_top_world_z": 0.010000000000000014,
+  "right_plate_bottom_world_z": 1.3877787807814457e-17,
+  "right_obj_first_frame_xy": [
+    -0.016211899266140337,
+    -0.0036650709602078554
+  ],
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
+  "right_object_convex_dir": "processed/arcticv2/assets/objects/waffleiron_bottom/convex"
+}
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/complete_data.csv b/processed/gigahand/schunk/bimanual/complete_data.csv
index 3a7eb6f45b991c5059a85dcbd5ccdd5d7f7560c3..8a4f0632e3cb26eca6bf0c4fd2447a5e2711bf10 100644
--- a/processed/gigahand/schunk/bimanual/complete_data.csv
+++ b/processed/gigahand/schunk/bimanual/complete_data.csv
@@ -1,16 +1,4 @@
-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,schunk,bimanual,mjwp_act,p52-instrument,0,p52-instrument/0,0.09119189878474039,0.24865195364911877,0.09119189878474039,9.757416874042939e-06,0.24865195364911877,5.6136208422982824e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p52-instrument,1,p52-instrument/1,0.09737822301687454,0.26826113072270447,0.09737822301687454,9.75694658785175e-06,0.26826113072270447,5.6136521674551145e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p52-instrument,2,p52-instrument/2,0.0834142578275253,0.23589546627571498,0.0834142578275253,9.757790024068559e-06,0.23589546627571498,5.613651191191263e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p52-instrument,3,p52-instrument/3,0.09783428436743993,0.262145606899786,0.09783428436743993,9.757005872306601e-06,0.262145606899786,5.6144666871682716e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p52-instrument,4,p52-instrument/4,0.0834142578275253,0.23589546627571498,0.0834142578275253,9.757790024068559e-06,0.23589546627571498,5.613651191191263e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p36-tea,0,p36-tea/0,0.09858379012451284,0.4368013536768013,0.09858379012451284,1.0179182235845467e-06,0.4368013536768013,3.0813052994969434e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p36-tea,1,p36-tea/1,0.09983501399585563,0.48956990015999285,0.09983501399585563,1.0179172669335345e-06,0.48956990015999285,3.0813071586353684e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p36-tea,2,p36-tea/2,0.09350778058016866,0.47457747355954405,0.09350778058016866,1.0179185415127891e-06,0.47457747355954405,3.081304030849159e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p36-tea,3,p36-tea/3,0.09859482546235691,0.4548581483321212,0.09859482546235691,1.01791808825935e-06,0.4548581483321212,3.0813059699395124e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p36-tea,4,p36-tea/4,0.09983501399585563,0.48956990015999285,0.09983501399585563,1.0179172669335345e-06,0.48956990015999285,3.0813071586353684e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p44-dog,0,p44-dog/0,0.028665062635000592,0.1725719166766552,0.028665062635000592,3.884710946869341e-06,0.1725719166766552,6.157406317447035e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p44-dog,1,p44-dog/1,0.02781276329714467,0.17896634573747305,0.02781276329714467,3.884733560281466e-06,0.17896634573747305,6.157414648398417e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p44-dog,2,p44-dog/2,0.027692957487802324,0.17552185664496764,0.027692957487802324,3.884714994895282e-06,0.17552185664496764,6.157375706062835e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p44-dog,3,p44-dog/3,0.030013659644879963,0.1771379656528959,0.030013659644879963,3.884722939459712e-06,0.1771379656528959,6.157378252305283e-05,True,0.1,0.5
-gigahand,schunk,bimanual,mjwp_act,p44-dog,4,p44-dog/4,0.028083436774106928,0.183336543811492,0.028083436774106928,3.88470435043206e-06,0.183336543811492,6.157367681362443e-05,True,0.1,0.5
+dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold,add_auc3_right,add_auc3_left,add_auc3_mean
+gigahand,schunk,bimanual,mjwp,p52-instrument,3,p52-instrument/3,0.0542700293960328,0.277968204922561,0.0542700293960328,4.064237788977481e-06,0.277968204922561,4.6186198318942765e-05,True,0.1,0.5,0.0,0.994949494949495,0.0
+gigahand,schunk,bimanual,mjwp,p36-tea,3,p36-tea/3,0.021653301940326147,0.4033654366942853,0.021653301940326147,1.7787968083663166e-06,0.4033654366942853,4.743631698566558e-05,True,0.1,0.5,0.3202438587053971,0.994949494949495,0.3202438587053971
+gigahand,schunk,bimanual,mjwp,p44-dog,3,p44-dog/3,0.0298196178642584,0.11272403424964518,0.0298196178642584,1.9328363156617937e-06,0.11272403424964518,2.659480325458108e-05,True,0.1,0.5,0.04567077502857318,0.994949494949495,0.04567077502857318
diff --git a/processed/gigahand/schunk/bimanual/summary.csv b/processed/gigahand/schunk/bimanual/summary.csv
index f74fa25a2417a0c8d9f751c28a65e0eb7f7eb9ce..df5f2a1dfdfca29d05332954cbfebeb00545df27 100644
--- a/processed/gigahand/schunk/bimanual/summary.csv
+++ b/processed/gigahand/schunk/bimanual/summary.csv
@@ -1,33 +1,21 @@
-dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
-gigahand,schunk,bimanual,mjwp,p52-instrument,3,0.0542700293960328,0.277968204922561,True,0.1,0.6,1,1,1.0,0.0542700293960328,0.0,0.277968204922561,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p52-instrument,4,0.0674077232122072,0.2805942920049404,True,0.1,0.6,1,1,1.0,0.0674077232122072,0.0,0.2805942920049404,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p52-instrument,1,0.0811118182816682,0.3312753365644035,True,0.1,0.6,1,1,1.0,0.0811118182816682,0.0,0.3312753365644035,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p52-instrument,0,0.1230124817201449,0.305017426668992,False,0.1,0.6,1,0,0.0,0.1230124817201449,0.0,0.305017426668992,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p52-instrument,34,0.0459919871183328,0.1315340471204848,True,0.1,0.6,1,1,1.0,0.0459919871183328,0.0,0.1315340471204848,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p52-instrument,2,0.082295253117912,0.33557213872364,True,0.1,0.6,1,1,1.0,0.082295253117912,0.0,0.33557213872364,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p36-tea,3,0.0216533019403261,0.4033654366942853,True,0.1,0.6,1,1,1.0,0.0216533019403261,0.0,0.4033654366942853,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p36-tea,4,0.0209389017335859,0.3248311284939078,True,0.1,0.6,1,1,1.0,0.0209389017335859,0.0,0.3248311284939078,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p36-tea,1,0.0326264925691934,0.5115892630587262,True,0.1,0.6,1,1,1.0,0.0326264925691934,0.0,0.5115892630587262,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p36-tea,10,0.0135876349849143,0.1338483819788504,True,0.1,0.6,1,1,1.0,0.0135876349849143,0.0,0.1338483819788504,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p36-tea,0,0.0221013995952286,0.4697980007981099,True,0.1,0.6,1,1,1.0,0.0221013995952286,0.0,0.4697980007981099,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p36-tea,2,0.1417396113453667,1.626426829899086,False,0.1,0.6,1,0,0.0,0.1417396113453667,0.0,1.626426829899086,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p44-dog,3,0.0298196178642584,0.1127240342496451,True,0.1,0.6,1,1,1.0,0.0298196178642584,0.0,0.1127240342496451,0.0,2026-01-27 17:29:46
-gigahand,schunk,bimanual,mjwp,p44-dog,4,0.029887152190361,0.1044612658359881,True,0.1,0.6,1,1,1.0,0.029887152190361,0.0,0.1044612658359881,0.0,2026-01-27 17:29:46
-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_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
-gigahand,schunk,bimanual,mjwp_act,p36-tea,3,0.09859482546235691,0.4548581483321212,True,0.1,0.5,1,1,1.0,0.09859482546235691,0.0,0.4548581483321212,0.0,2026-02-02 16:11:03
-gigahand,schunk,bimanual,mjwp_act,p36-tea,4,0.09983501399585563,0.48956990015999285,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,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
-gigahand,schunk,bimanual,mjwp_act,p44-dog,2,0.027692957487802324,0.17552185664496764,True,0.1,0.5,1,1,1.0,0.027692957487802324,0.0,0.17552185664496764,0.0,2026-02-02 16:11:03
-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
+dataset,robot_type,embodiment_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp,add_auc3_right,add_auc3_left,add_auc3_mean
+gigahand,schunk,bimanual,mjwp,p52-instrument,3,0.0542700293960328,0.277968204922561,True,0.1,0.6,1,1,1.0,0.0542700293960328,0.0,0.277968204922561,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p52-instrument,4,0.0674077232122072,0.2805942920049404,True,0.1,0.6,1,1,1.0,0.0674077232122072,0.0,0.2805942920049404,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p52-instrument,1,0.0811118182816682,0.3312753365644035,True,0.1,0.6,1,1,1.0,0.0811118182816682,0.0,0.3312753365644035,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p52-instrument,0,0.1230124817201449,0.305017426668992,False,0.1,0.6,1,0,0.0,0.1230124817201449,0.0,0.305017426668992,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p52-instrument,34,0.0459919871183328,0.1315340471204848,True,0.1,0.6,1,1,1.0,0.0459919871183328,0.0,0.1315340471204848,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p52-instrument,2,0.082295253117912,0.33557213872364,True,0.1,0.6,1,1,1.0,0.082295253117912,0.0,0.33557213872364,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p36-tea,3,0.0216533019403261,0.4033654366942853,True,0.1,0.6,1,1,1.0,0.0216533019403261,0.0,0.4033654366942853,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p36-tea,4,0.0209389017335859,0.3248311284939078,True,0.1,0.6,1,1,1.0,0.0209389017335859,0.0,0.3248311284939078,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p36-tea,1,0.0326264925691934,0.5115892630587262,True,0.1,0.6,1,1,1.0,0.0326264925691934,0.0,0.5115892630587262,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p36-tea,10,0.0135876349849143,0.1338483819788504,True,0.1,0.6,1,1,1.0,0.0135876349849143,0.0,0.1338483819788504,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p36-tea,0,0.0221013995952286,0.4697980007981099,True,0.1,0.6,1,1,1.0,0.0221013995952286,0.0,0.4697980007981099,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p36-tea,2,0.1417396113453667,1.626426829899086,False,0.1,0.6,1,0,0.0,0.1417396113453667,0.0,1.626426829899086,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p44-dog,3,0.0298196178642584,0.1127240342496451,True,0.1,0.6,1,1,1.0,0.0298196178642584,0.0,0.1127240342496451,0.0,2026-01-27 17:29:46,,,
+gigahand,schunk,bimanual,mjwp,p44-dog,4,0.029887152190361,0.1044612658359881,True,0.1,0.6,1,1,1.0,0.029887152190361,0.0,0.1044612658359881,0.0,2026-01-27 17:29:46,,,
+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,3,0.0542700293960328,0.277968204922561,True,0.1,0.5,1,1,1.0,0.0542700293960328,0.0,0.277968204922561,0.0,2026-05-31 00:39:53,0.0,0.994949494949495,0.0
+gigahand,schunk,bimanual,mjwp,p36-tea,3,0.021653301940326147,0.4033654366942853,True,0.1,0.5,1,1,1.0,0.021653301940326147,0.0,0.4033654366942853,0.0,2026-05-31 00:39:53,0.3202438587053971,0.994949494949495,0.3202438587053971
+gigahand,schunk,bimanual,mjwp,p44-dog,3,0.0298196178642584,0.11272403424964518,True,0.1,0.5,1,1,1.0,0.0298196178642584,0.0,0.11272403424964518,0.0,2026-05-31 00:39:53,0.04567077502857318,0.994949494949495,0.04567077502857318
diff --git a/processed/oakink/assets/robots/sharpa/bimanual.xml b/processed/oakink/assets/robots/sharpa/bimanual.xml
deleted file mode 100644
index debb1c3e9ab50d0402f803f629151d5135f7d271..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/bimanual.xml
+++ /dev/null
@@ -1,4 +0,0 @@
-<mujoco model="bimanual">
-    <include file="right.xml" />
-    <include file="left.xml" />
-</mujoco>
\ No newline at end of file
diff --git a/processed/oakink/assets/robots/sharpa/left.xml b/processed/oakink/assets/robots/sharpa/left.xml
deleted file mode 100644
index 330fb27c764431dcc671bcddb92b580966f935da..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/left.xml
+++ /dev/null
@@ -1,427 +0,0 @@
-<mujoco model="left_sharpa">
-  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
-
-  <option timestep="0.01" iterations="6" solver="CG" jacobian="auto">
-    <flag eulerdamp="disable" />
-  </option>
-
-  <default>
-    <!-- Disable all contacts by default, use explicit collision pairs -->
-    <geom density="800" condim="1" contype="0" conaffinity="0" />
-
-    <!-- Position controller settings (response time ~1s) -->
-    <position kp="300" dampratio="1.0" inheritrange="1" />
-
-    <!-- Joint dynamics -->
-    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-
-    <!-- Trace sites for visualization -->
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
-  </default>
-
-  <asset>
-    <!-- Skybox texture -->
-    <texture type="skybox" builtin="gradient"
-             rgb1="1 1 1" rgb2="1 1 1"
-             width="512" height="3072" />
-
-    <!-- Ground plane texture -->
-    <texture type="2d" name="left_groundplane" builtin="checker"
-             mark="edge" rgb1="1 1 1" rgb2="1 1 1"
-             markrgb="0 0 0" width="300" height="300" />
-
-    <!-- Ground material -->
-    <material name="left_groundplane" texture="left_groundplane"
-              texuniform="true" texrepeat="5 5" reflectance="0.2" />
-
-    <!-- Hand meshes -->
-    <mesh name="left_hand_C_MC_visual" file="left_hand_C_MC_visual_.STL"/>
-    <mesh name="left_hand_C_MC" file="left_hand_C_MC.STL"/>
-    <mesh name="left_thumb_CMC_VL_visual" file="left_thumb_CMC_VL.STL"/>
-    <mesh name="left_thumb_MC_visual" file="left_thumb_MC_visual.STL"/>
-    <mesh name="left_thumb_MC" file="left_thumb_MC.STL"/>
-    <mesh name="left_thumb_MCP_VL_visual" file="left_thumb_MCP_VL_visual.STL"/>
-    <mesh name="left_thumb_PP_visual" file="left_thumb_PP_visual.STL"/>
-    <mesh name="left_thumb_PP" file="left_thumb_PP.STL"/>
-    <mesh name="left_thumb_DP_visual" file="left_thumb_DP_visual.STL"/>
-    <mesh name="left_thumb_DP" file="left_thumb_DP.STL"/>
-    <mesh name="left_thumb_elastomer" file="thumb_elastomer.STL"/>
-    <mesh name="left_MCP_VL_visual" file="left_MCP_VL_visual.STL"/>
-    <mesh name="left_MCP_VL" file="MCP_VL.STL"/>
-    <mesh name="left_PP_visual" file="left_PP_visual.STL"/>
-    <mesh name="left_PP" file="left_PP.STL"/>
-    <mesh name="left_MP_visual" file="left_MP_visual.STL"/>
-    <mesh name="left_MP" file="left_MP.STL"/>
-    <mesh name="left_DP_visual" file="left_DP_visual.STL"/>
-    <mesh name="left_DP" file="left_DP.STL"/>
-    <mesh name="left_elastomer" file="elastomer.STL"/>
-    <mesh name="left_pinky_MC_visual" file="left_pinky_MC_visual.STL"/>
-    <mesh name="left_pinky_MC" file="left_pinky_MC.STL"/>
-  </asset>
-
-  <worldbody>
-    <!-- Directional light -->
-    <light pos="0 0 3" dir="0 0 -1" directional="true"/>
-
-    <!-- Tracking camera -->
-    <camera name="left_track" pos="0.868 -0.348 -0.175"
-            xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" mode="trackcom"/>
-
-    <!-- Left hand with 6-DOF base -->
-    <body name="left_hand_base" pos="0 0 0.2">
-      <!-- Base 6-DOF joints (3 translation + 3 rotation) -->
-      <joint name="left_pos_x" type="slide" axis="1 0 0" range="-5 5"/>
-      <joint name="left_pos_y" type="slide" axis="0 1 0" range="-5 5"/>
-      <joint name="left_pos_z" type="slide" axis="0 0 1" range="-5 5"/>
-      <joint name="left_rot_x" type="hinge" axis="1 0 0" range="-6.28 6.28"/>
-      <joint name="left_rot_y" type="hinge" axis="0 1 0" range="-6.28 6.28"/>
-      <joint name="left_rot_z" type="hinge" axis="0 0 1" range="-6.28 6.28"/>
-
-      <!-- Hand base body -->
-      <body name="left_hand_C_MC" pos="0 0 0">
-        <inertial pos="-0.00216 -0.00536 0.04011" quat="0.693082 0.0757241 -0.0659362 0.713831" mass="0.6506" diaginertia="0.000814964 0.000674248 0.00027314"/>
-        <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC_visual" name="left_hand_C_MC_visual"/>
-        <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC" name="left_hand_C_MC"/>
-
-        <!-- Collision geometry for palm -->
-        <geom name="collision_hand_left_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
-
-        <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
-        <site name="left_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
-
-        <!-- Thumb -->
-        <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
-          <inertial pos="-0.00065 -0.0002 0" quat="0.557664 0.434754 -0.557664 0.434754" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
-          <joint name="left_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_CMC_VL_visual"/>
-
-          <body name="left_thumb_MC" pos="0 -0.005 0" quat="0.65328 0.653282 -0.270598 0.270599">
-            <inertial pos="0.03643 -0.01024 -0.00517" quat="0.154462 0.683763 0.151259 0.696943" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
-            <joint name="left_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC_visual" name="left_thumb_MC_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC" name="left_thumb_MC"/>
-
-            <!-- Collision for thumb metacarpal -->
-            <geom name="collision_hand_left_thumb_3" type="capsule" size="0.01 0.025" pos="0.032 -0.003 -0.005" quat="1 0 1 0" group="3" rgba="0 1 0 1" />
-
-            <body name="left_thumb_MCP_VL" pos="0.065 -0.006 -0.010392" quat="0.965926 -0.25882 0 0">
-              <inertial pos="-1.29e-09 1.1e-10 0" quat="0.484363 0.515163 -0.484363 0.515163" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
-              <joint name="left_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MCP_VL_visual"/>
-
-              <body name="left_thumb_PP" quat="0.707105 0.707108 0 0">
-                <inertial pos="0.021256 -0.00095 0.00092" quat="0.511613 0.44358 0.554609 0.483631" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
-                <joint name="left_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP_visual" name="left_thumb_PP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP" name="left_thumb_PP"/>
-
-                <!-- Collision for thumb proximal phalanx -->
-                <geom name="collision_hand_left_thumb_2" type="capsule" size="0.008 0.015" pos="0.019 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <body name="left_thumb_DP" pos="0.039 0 0" quat="0.707105 -0.707108 0 0">
-                  <inertial pos="0.00823857 -0.00178179 -0.00099978" quat="-0.255976 0.71385 -0.187437 0.62431" mass="0.009981" diaginertia="1.09052e-06 1.04137e-06 2.95184e-07"/>
-                  <joint name="left_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP_visual" name="left_thumb_DP_visual"/>
-                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP" name="left_thumb_DP"/>
-                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_thumb_elastomer" name="left_thumb_elastomer_visual"/>
-                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_thumb_elastomer" name="left_thumb_elastomer"/>
-
-                  <!-- Collision geometry for thumb distal phalanx -->
-                  <geom name="collision_hand_left_thumb_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Collision geometry for thumb tip/elastomer -->
-                  <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Trace site for thumb tip -->
-                  <site name="trace_hand_left_thumb_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                  <!-- Tracking site for thumb tip -->
-                  <site name="left_thumb_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Index finger -->
-        <body name="left_index_MCP_VL" pos="0.001 -0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="left_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
-
-          <body name="left_index_PP" quat="0.707105 0.707108 0 0">
-            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="left_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_index_PP_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_index_PP"/>
-
-            <!-- Collision for index proximal phalanx -->
-            <geom name="collision_hand_left_index_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-            <body name="left_index_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="left_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_index_MP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_index_MP"/>
-
-              <!-- Collision for index intermediate phalanx -->
-              <geom name="collision_hand_left_index_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="left_index_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="left_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_index_DP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_index_DP"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_index_elastomer_visual"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_index_elastomer"/>
-
-                <!-- Collision geometry for index distal phalanx -->
-                <geom name="collision_hand_left_index_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Collision geometry for index fingertip/elastomer -->
-                <geom name="collision_hand_left_index_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Trace site for index tip -->
-                <site name="trace_hand_left_index_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                <!-- Tracking site for index tip -->
-                <site name="left_index_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Middle finger -->
-        <body name="left_middle_MCP_VL" pos="0 -0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="left_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
-
-          <body name="left_middle_PP" quat="0.707105 0.707108 0 0">
-            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="left_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_middle_PP_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_middle_PP"/>
-
-            <!-- Collision for middle proximal phalanx -->
-            <geom name="collision_hand_left_middle_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-            <body name="left_middle_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="left_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_middle_MP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_middle_MP"/>
-
-              <!-- Collision for middle intermediate phalanx -->
-              <geom name="collision_hand_left_middle_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="left_middle_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="left_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_middle_DP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_middle_DP"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_middle_elastomer_visual"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_middle_elastomer"/>
-
-                <!-- Collision geometry for middle distal phalanx -->
-                <geom name="collision_hand_left_middle_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Collision geometry for middle fingertip/elastomer -->
-                <geom name="collision_hand_left_middle_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Trace site for middle tip -->
-                <site name="trace_hand_left_middle_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                <!-- Tracking site for middle tip -->
-                <site name="left_middle_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Ring finger -->
-        <body name="left_ring_MCP_VL" pos="0.0015 0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="left_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
-
-          <body name="left_ring_PP" quat="0.707105 0.707108 0 0">
-            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="left_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_ring_PP_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_ring_PP"/>
-
-            <!-- Collision for ring proximal phalanx -->
-            <geom name="collision_hand_left_ring_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-            <body name="left_ring_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="left_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_ring_MP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_ring_MP"/>
-
-              <!-- Collision for ring intermediate phalanx -->
-              <geom name="collision_hand_left_ring_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="left_ring_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="left_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_ring_DP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_ring_DP"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_ring_elastomer_visual"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="left_elastomer" name="left_ring_elastomer"/>
-
-                <!-- Collision geometry for ring distal phalanx -->
-                <geom name="collision_hand_left_ring_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Collision geometry for ring fingertip/elastomer -->
-                <geom name="collision_hand_left_ring_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Trace site for ring tip -->
-                <site name="trace_hand_left_ring_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                <!-- Tracking site for ring tip -->
-                <site name="left_ring_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Pinky finger -->
-        <body name="left_pinky_MC" pos="0.01136 0.0263 0.0869" quat="1.34924e-11 3.67321e-06 -1 -3.67321e-06">
-          <inertial pos="0.0107985 0.00598801 -0.0335125" quat="0.706956 0.000832392 0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
-          <joint name="left_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC_visual" name="left_pinky_MC_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC" name="left_pinky_MC"/>
-
-          <!-- Collision for pinky metacarpal -->
-          <!-- <geom name="collision_hand_left_pinky_4" type="capsule" size="0.008 0.015" pos="0.008 -0.004 0.015" quat="0.866 -0.5 0 0" group="3" rgba="0 1 0 1" /> -->
-
-          <body name="left_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 -0.5 0.5 0.500002">
-            <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-            <joint name="left_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL"/>
-
-            <body name="left_pinky_PP" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-              <joint name="left_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_pinky_PP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_pinky_PP"/>
-
-              <!-- Collision for pinky proximal phalanx -->
-              <geom name="collision_hand_left_pinky_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="left_pinky_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-                <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-                <joint name="left_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_pinky_MP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_pinky_MP"/>
-
-                <!-- Collision for pinky intermediate phalanx -->
-                <geom name="collision_hand_left_pinky_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <body name="left_pinky_DP" pos="0.0315 0 0">
-                  <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                  <joint name="left_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_pinky_DP_visual"/>
-                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_pinky_DP"/>
-                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.1 1 0.2 1" mesh="left_elastomer" name="left_pinky_elastomer_visual"/>
-                  <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="left_elastomer" name="left_pinky_elastomer"/>
-
-                  <!-- Collision geometry for pinky distal phalanx -->
-                  <geom name="collision_hand_left_pinky_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Collision geometry for pinky fingertip/elastomer -->
-                  <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Trace site for pinky tip -->
-                  <site name="trace_hand_left_pinky_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                  <!-- Tracking site for pinky tip -->
-                  <site name="left_pinky_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <!-- Base DOFs (for free-floating hand) -->
-    <position name="left_pos_x_position" joint="left_pos_x" kp="1000" />
-    <position name="left_pos_y_position" joint="left_pos_y" kp="1000" />
-    <position name="left_pos_z_position" joint="left_pos_z" kp="1000" />
-    <position name="left_rot_x_position" joint="left_rot_x" kp="1000" />
-    <position name="left_rot_y_position" joint="left_rot_y" kp="1000" />
-    <position name="left_rot_z_position" joint="left_rot_z" kp="1000" />
-
-    <!-- Thumb actuators -->
-    <position name="left_thumb_CMC_FE_ctrl" joint="left_thumb_CMC_FE" kp="6.95" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_thumb_CMC_AA_ctrl" joint="left_thumb_CMC_AA" kp="13.2" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_thumb_MCP_FE_ctrl" joint="left_thumb_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_thumb_MCP_AA_ctrl" joint="left_thumb_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_thumb_IP_ctrl" joint="left_thumb_IP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Index finger actuators -->
-    <position name="left_index_MCP_FE_ctrl" joint="left_index_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_index_MCP_AA_ctrl" joint="left_index_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_index_PIP_ctrl" joint="left_index_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_index_DIP_ctrl" joint="left_index_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Middle finger actuators -->
-    <position name="left_middle_MCP_FE_ctrl" joint="left_middle_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_middle_MCP_AA_ctrl" joint="left_middle_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_middle_PIP_ctrl" joint="left_middle_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_middle_DIP_ctrl" joint="left_middle_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Ring finger actuators -->
-    <position name="left_ring_MCP_FE_ctrl" joint="left_ring_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_ring_MCP_AA_ctrl" joint="left_ring_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_ring_PIP_ctrl" joint="left_ring_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_ring_DIP_ctrl" joint="left_ring_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Pinky actuators -->
-    <position name="left_pinky_CMC_ctrl" joint="left_pinky_CMC" kp="1.38" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_MCP_FE_ctrl" joint="left_pinky_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_MCP_AA_ctrl" joint="left_pinky_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_PIP_ctrl" joint="left_pinky_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_DIP_ctrl" joint="left_pinky_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-  </actuator>
-
-  <contact>
-    <exclude body1="left_hand_C_MC" body2="left_thumb_CMC_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_hand_C_MC"/>
-    <exclude body1="left_hand_C_MC" body2="left_thumb_MC"/>
-    <exclude body1="left_thumb_MC" body2="left_thumb_MCP_VL"/>
-    <exclude body1="left_thumb_MC" body2="left_thumb_PP"/>
-    <exclude body1="left_thumb_MCP_VL" body2="left_thumb_PP"/>
-    <exclude body1="left_thumb_PP" body2="left_thumb_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_index_MCP_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_index_PP"/>
-    <exclude body1="left_index_MCP_VL" body2="left_index_PP"/>
-    <exclude body1="left_index_PP" body2="left_index_MP"/>
-    <exclude body1="left_index_MP" body2="left_index_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_middle_MCP_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_middle_PP"/>
-    <exclude body1="left_middle_MCP_VL" body2="left_middle_PP"/>
-    <exclude body1="left_middle_PP" body2="left_middle_MP"/>
-    <exclude body1="left_middle_MP" body2="left_middle_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_ring_MCP_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_ring_PP"/>
-    <exclude body1="left_ring_MCP_VL" body2="left_ring_PP"/>
-    <exclude body1="left_ring_PP" body2="left_ring_MP"/>
-    <exclude body1="left_ring_MP" body2="left_ring_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_pinky_MC"/>
-    <exclude body1="left_pinky_MC" body2="left_pinky_MCP_VL"/>
-    <exclude body1="left_pinky_MC" body2="left_pinky_PP"/>
-    <exclude body1="left_pinky_MCP_VL" body2="left_pinky_PP"/>
-    <exclude body1="left_pinky_PP" body2="left_pinky_MP"/>
-    <exclude body1="left_pinky_MP" body2="left_pinky_DP"/>
-  </contact>
-</mujoco>
diff --git a/processed/oakink/assets/robots/sharpa/left_sharpa_wave.xml b/processed/oakink/assets/robots/sharpa/left_sharpa_wave.xml
deleted file mode 100644
index 78a4e1bf871c46fc60134320cd8c3dc75b2f2e4b..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/left_sharpa_wave.xml
+++ /dev/null
@@ -1,250 +0,0 @@
-<mujoco model="left_sharpa_wave">
-  <compiler angle="radian" meshdir="meshes/"/>
-  <asset>
-    <mesh name="left_hand_C_MC_visual" file="left_hand_C_MC_visual_.STL"/>
-    <mesh name="left_hand_C_MC" file="left_hand_C_MC.STL"/>
-    <mesh name="left_thumb_CMC_VL_visual" file="left_thumb_CMC_VL.STL"/>
-    <mesh name="left_thumb_MC_visual" file="left_thumb_MC_visual.STL"/>
-    <mesh name="left_thumb_MC" file="left_thumb_MC.STL"/>
-    <mesh name="left_thumb_MCP_VL_visual" file="left_thumb_MCP_VL_visual.STL"/>
-    <mesh name="left_thumb_PP_visual" file="left_thumb_PP_visual.STL"/>
-    <mesh name="left_thumb_PP" file="left_thumb_PP.STL"/>
-    <mesh name="left_thumb_DP_visual" file="left_thumb_DP_visual.STL"/>
-    <mesh name="left_thumb_DP" file="left_thumb_DP.STL"/>
-    <mesh name="thumb_elastomer_surface" file="thumb_elastomer_surface.STL"/>
-    <mesh name="thumb_elastomer" file="thumb_elastomer.STL"/>
-    <mesh name="left_MCP_VL_visual" file="left_MCP_VL_visual.STL"/>
-    <mesh name="MCP_VL" file="MCP_VL.STL"/>
-    <mesh name="left_PP_visual" file="left_PP_visual.STL"/>
-    <mesh name="left_PP" file="left_PP.STL"/>
-    <mesh name="left_MP_visual" file="left_MP_visual.STL"/>
-    <mesh name="left_MP" file="left_MP.STL"/>
-    <mesh name="left_DP_visual" file="left_DP_visual.STL"/>
-    <mesh name="left_DP" file="left_DP.STL"/>
-    <mesh name="elastomer_surface" file="elastomer_surface.STL"/>
-    <mesh name="elastomer" file="elastomer.STL"/>
-    <mesh name="left_pinky_MC_visual" file="left_pinky_MC_visual.STL"/>
-    <mesh name="left_pinky_MC" file="left_pinky_MC.STL"/>
-  </asset>
-  <default>
-    <default class="CMC_joint">
-      <joint armature="0.0032" frictionloss="0.132" damping="4.20E-05"/>
-    </default>
-    <default class="PCMC_joint">
-      <joint armature="0.00012" frictionloss="0.012" damping="4.20E-05"/>
-    </default>
-    <default class="MCP_joint">
-      <joint armature="0.00265" frictionloss="0.07456" damping="2.38E-05"/>
-    </default>
-    <default class="PIP_joint">
-      <joint armature="0.0006" frictionloss="0.01276"  damping="4.06E-06"/>
-    </default>
-    <default class="DIP_joint">
-      <joint armature="0.00042" frictionloss="0.00378738"  damping="1.21E-06"/>
-    </default>
-    <default class="elastomer_geom">
-      <geom solref="0.06 0.9"/>
-    </default>
-  </default>
-  <worldbody>
-    <body name="left_hand_C_MC" pos="0 0 0">
-      <inertial pos="-0.00216 -0.00536 0.04011" quat="0.693082 0.0757241 -0.0659362 0.713831" mass="0.6506" diaginertia="0.000814964 0.000674248 0.00027314"/>
-      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC_visual" name="left_hand_C_MC_visual"/>
-      <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_hand_C_MC" name="left_hand_C_MC"/>
-      <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
-        <inertial pos="-0.00065 -0.0002 0" quat="0.557664 0.434754 -0.557664 0.434754" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
-        <joint name="left_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199" class="CMC_joint"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_CMC_VL_visual"/>
-        <body name="left_thumb_MC" pos="0 -0.005 0" quat="0.65328 0.653282 -0.270598 0.270599">
-          <inertial pos="0.03643 -0.01024 -0.00517" quat="0.154462 0.683763 0.151259 0.696943" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
-          <joint name="left_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="CMC_joint"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC_visual" name="left_thumb_MC_visual"/>
-          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MC" name="left_thumb_MC"/>
-          <body name="left_thumb_MCP_VL" pos="0.065 -0.006 -0.010392" quat="0.965926 -0.25882 0 0">
-            <inertial pos="-1.29e-09 1.1e-10 0" quat="0.484363 0.515163 -0.484363 0.515163" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
-            <joint name="left_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963" class="MCP_joint"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_MCP_VL_visual"/>
-            <body name="left_thumb_PP" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.021256 -0.00095 0.00092" quat="0.511613 0.44358 0.554609 0.483631" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
-              <joint name="left_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP_visual" name="left_thumb_PP_visual"/>
-              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_PP" name="left_thumb_PP"/>
-              <body name="left_thumb_DP" pos="0.039 0 0" quat="0.707105 -0.707108 0 0">
-                <inertial pos="0.00823857 -0.00178179 -0.00099978" quat="-0.255976 0.71385 -0.187437 0.62431" mass="0.009981" diaginertia="1.09052e-06 1.04137e-06 2.95184e-07"/>
-                <joint name="left_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
-                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP_visual" name="left_thumb_DP_visual"/>
-                <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_thumb_DP" name="left_thumb_DP"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" mesh="thumb_elastomer"/>
-                <geom contype="1" conaffinity="1" group="3" quat="0.5 0.5 -0.5 0.5" type="mesh" rgba="0.2 1 0.2 1" mesh="thumb_elastomer" name="left_thumb_elastomer" class="elastomer_geom"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="left_index_MCP_VL" pos="0.001 -0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
-        <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-        <joint name="left_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_index_MCP_VL_visual"/>
-        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_index_MCP_VL"/>
-        <body name="left_index_PP" quat="0.707105 0.707108 0 0">
-          <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-          <joint name="left_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_index_PP_visual"/>
-          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_index_PP"/>
-          <body name="left_index_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-            <joint name="left_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_index_MP_visual"/>
-            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_index_MP"/>
-            <body name="left_index_DP" pos="0.0315 0 0">
-              <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-              <joint name="left_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_index_DP_visual"/>
-              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_index_DP"/>
-              <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_index_elastomer_visual"/>
-              <geom contype="1" conaffinity="1" group="3" quat="0.5 0.5 -0.5 0.5" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_index_elastomer"/>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="left_middle_MCP_VL" pos="0 -0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
-        <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-        <joint name="left_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_middle_MCP_VL_visual"/>
-        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_middle_MCP_VL"/>
-        <body name="left_middle_PP" quat="0.707105 0.707108 0 0">
-          <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-          <joint name="left_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_middle_PP_visual"/>
-          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_middle_PP"/>
-          <body name="left_middle_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-            <joint name="left_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_middle_MP_visual"/>
-            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_middle_MP"/>
-            <body name="left_middle_DP" pos="0.0315 0 0">
-              <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-              <joint name="left_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_middle_DP_visual"/>
-              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_middle_DP"/>
-              <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_middle_elastomer_visual"/>
-              <geom contype="1" conaffinity="1" group="3" quat="0.5 0.5 -0.5 0.5" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_middle_elastomer"/>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="left_ring_MCP_VL" pos="0.0015 0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
-        <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-        <joint name="left_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_ring_MCP_VL_visual"/>
-        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_ring_MCP_VL"/>
-        <body name="left_ring_PP" quat="0.707105 0.707108 0 0">
-          <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-          <joint name="left_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_ring_PP_visual"/>
-          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_ring_PP"/>
-          <body name="left_ring_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-            <joint name="left_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_ring_MP_visual"/>
-            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_ring_MP"/>
-            <body name="left_ring_DP" pos="0.0315 0 0">
-              <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-              <joint name="left_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_ring_DP_visual"/>
-              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_ring_DP"/>
-              <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_ring_elastomer_visual"/>
-              <geom contype="1" conaffinity="1" group="3" quat="0.499998 0.5 -0.5 0.500002" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_ring_elastomer"/>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="left_pinky_MC" pos="0.01136 0.0263 0.0869" quat="1.34924e-11 3.67321e-06 -1 -3.67321e-06">
-        <inertial pos="0.0107985 0.00598801 -0.0335125" quat="0.706956 0.000832392 0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
-        <joint name="left_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618" class="PCMC_joint"/>
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC_visual" name="left_pinky_MC_visual"/>
-        <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_pinky_MC" name="left_pinky_MC"/>
-        <body name="left_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 -0.5 0.5 0.500002">
-          <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="left_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708" class="MCP_joint"/>
-          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MCP_VL_visual" name="left_pinky_MCP_VL_visual"/>
-          <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="MCP_VL" name="left_pinky_MCP_VL"/>
-          <body name="left_pinky_PP" quat="0.707105 0.707108 0 0">
-            <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="left_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" class="MCP_joint"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP_visual" name="left_pinky_PP_visual"/>
-            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_PP" name="left_pinky_PP"/>
-            <body name="left_pinky_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="left_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453" class="PIP_joint"/>
-              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP_visual" name="left_pinky_MP_visual"/>
-              <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="left_MP" name="left_pinky_MP"/>
-              <body name="left_pinky_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="left_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963" class="DIP_joint"/>
-                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="left_DP_visual" name="left_pinky_DP_visual"/>
-                <geom type="mesh" contype="1" conaffinity="1" group="3"  rgba="0.79216 0.81961 0.93333 1" mesh="left_DP" name="left_pinky_DP"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 1 0.2 1" solref="0.06 0.9" mesh="elastomer" name="left_pinky_elastomer_visual"/>
-                <geom quat="0.5 0.5 -0.5 0.5" contype="1" conaffinity="1" group="3" type="mesh" rgba="0.2 1 0.2 1" mesh="elastomer" name="left_pinky_elastomer"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <position name="left_thumb_CMC_FE_ctrl" joint="left_thumb_CMC_FE"  kp="6.95" dampratio="0.9"  inheritrange="1.0"/>
-    <position name="left_thumb_CMC_AA_ctrl" joint="left_thumb_CMC_AA"  kp="13.2" dampratio="0.9"  inheritrange="1.0"/>
-    <position name="left_thumb_MCP_FE_ctrl" joint="left_thumb_MCP_FE"  kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_thumb_MCP_AA_ctrl" joint="left_thumb_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_thumb_IP_ctrl" joint="left_thumb_IP"kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_index_MCP_FE_ctrl" joint="left_index_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_index_MCP_AA_ctrl" joint="left_index_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_index_PIP_ctrl" joint="left_index_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_index_DIP_ctrl" joint="left_index_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_middle_MCP_FE_ctrl" joint="left_middle_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_middle_MCP_AA_ctrl" joint="left_middle_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_middle_PIP_ctrl" joint="left_middle_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_middle_DIP_ctrl" joint="left_middle_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_ring_MCP_FE_ctrl" joint="left_ring_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_ring_MCP_AA_ctrl" joint="left_ring_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_ring_PIP_ctrl" joint="left_ring_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_ring_DIP_ctrl" joint="left_ring_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_CMC_ctrl" joint="left_pinky_CMC" kp="1.38" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_MCP_FE_ctrl" joint="left_pinky_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_MCP_AA_ctrl" joint="left_pinky_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_PIP_ctrl" joint="left_pinky_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="left_pinky_DIP_ctrl" joint="left_pinky_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-  </actuator>
-  <contact>
-    <exclude body1="left_hand_C_MC" body2="left_thumb_CMC_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_hand_C_MC"/>
-    <exclude body1="left_hand_C_MC" body2="left_thumb_MC"/>
-    <exclude body1="left_thumb_MC" body2="left_thumb_MCP_VL"/>
-    <exclude body1="left_thumb_MC" body2="left_thumb_PP"/>
-    <exclude body1="left_thumb_MCP_VL" body2="left_thumb_PP"/>
-    <exclude body1="left_thumb_PP" body2="left_thumb_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_index_MCP_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_index_PP"/>
-    <exclude body1="left_index_MCP_VL" body2="left_index_PP"/>
-    <exclude body1="left_index_PP" body2="left_index_MP"/>
-    <exclude body1="left_index_MP" body2="left_index_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_middle_MCP_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_middle_PP"/>
-    <exclude body1="left_middle_MCP_VL" body2="left_middle_PP"/>
-    <exclude body1="left_middle_PP" body2="left_middle_MP"/>
-    <exclude body1="left_middle_MP" body2="left_middle_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_ring_MCP_VL"/>
-    <exclude body1="left_hand_C_MC" body2="left_ring_PP"/>
-    <exclude body1="left_ring_MCP_VL" body2="left_ring_PP"/>
-    <exclude body1="left_ring_PP" body2="left_ring_MP"/>
-    <exclude body1="left_ring_MP" body2="left_ring_DP"/>
-    <exclude body1="left_hand_C_MC" body2="left_pinky_MC"/>
-    <exclude body1="left_pinky_MC" body2="left_pinky_MCP_VL"/>
-    <exclude body1="left_pinky_MC" body2="left_pinky_PP"/>
-    <exclude body1="left_pinky_MCP_VL" body2="left_pinky_PP"/>
-    <exclude body1="left_pinky_PP" body2="left_pinky_MP"/>
-    <exclude body1="left_pinky_MP" body2="left_pinky_DP"/>
-  </contact>
-</mujoco>
diff --git a/processed/oakink/assets/robots/sharpa/meshes/MCP_VL.STL b/processed/oakink/assets/robots/sharpa/meshes/MCP_VL.STL
deleted file mode 100644
index 7d4d6bbd10686d368f479e19e7ea7d36be06a6ef..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/MCP_VL.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:587e34505de3b4f5b7131e6554e0ab92a18a3c28d250ea46eaf728c4539bf77d
-size 75184
diff --git a/processed/oakink/assets/robots/sharpa/meshes/elastomer.STL b/processed/oakink/assets/robots/sharpa/meshes/elastomer.STL
deleted file mode 100644
index 7f9cd6109f2a14f621b7eb9f7eda57db2c49ac39..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/elastomer.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1611f42070a8fb34226508417bb930af53bbe9e3b619113136b60cb0595ca4ed
-size 271584
diff --git a/processed/oakink/assets/robots/sharpa/meshes/elastomer_surface.STL b/processed/oakink/assets/robots/sharpa/meshes/elastomer_surface.STL
deleted file mode 100644
index 115e5cc48e6c575df898a92bd031ec5b6a3f7695..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/elastomer_surface.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7f88a20e862895e3bf97d35c600b9eb5c2f2e49f8918ef9fe07bd82e6572fae8
-size 362534
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_DP.STL b/processed/oakink/assets/robots/sharpa/meshes/left_DP.STL
deleted file mode 100644
index eb632f86bb9654f518b02195a61311c52aff6569..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_DP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:09ae5e485d42c651c70d025ef6bcd000f727dd1535836d7d8fa9de0686db4583
-size 101684
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_DP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_DP_visual.STL
deleted file mode 100644
index bcaa80afc74b3d6faeaa5b2a4016dd7c183e3f46..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_DP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f21c6a8d12a21b29ff05127ec1987135cc966a283707165d93a30f9e74d4a0ed
-size 320284
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_MCP_VL_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_MCP_VL_visual.STL
deleted file mode 100644
index 7c8c128c631c6dc1dcdd95cbb1fd09110f3ee2e9..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_MCP_VL_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0e8b15c4d8426a26cb222b8c1592f5e913c079aebdc0abaecda273b7d8ed0f3a
-size 322584
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_MP.STL b/processed/oakink/assets/robots/sharpa/meshes/left_MP.STL
deleted file mode 100644
index 1a923dfe20d30b4f7d6b9553a7666eeb2a0337cb..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_MP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f0a96877af9ec35f20941ae696e9e22cedc6e341703657b0c6d0ebc982897a9
-size 37084
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_MP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_MP_visual.STL
deleted file mode 100644
index 037edac93c4bfe11e6862fa48e482737e4b8a79c..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_MP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0e9ac7a8208ab2478cdff8ae40036b93e040a05f89ae0c43ece83a62fdf15293
-size 369384
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_PP.STL b/processed/oakink/assets/robots/sharpa/meshes/left_PP.STL
deleted file mode 100644
index 20cce91b8d78d2e9175a3fb5ffedec7a14195b8b..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_PP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6e4434712a5c668dbeda169e727629e95d4a9492fca431126543109451e2484f
-size 82484
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_PP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_PP_visual.STL
deleted file mode 100644
index 8a6afa1cae22f5be49a41749ac47246fddf3e4df..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_PP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:881e6eeeaecbf0a8bd6b11fa7f41a5aa139900635fe82b765586460c9a9c1580
-size 559934
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC.STL b/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC.STL
deleted file mode 100644
index 86b8b5d3d1fe1a32d08629db7e332f282d1d97e0..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:01e17ed8392d99e76d1c00a849749610c3f7715f18ea12b107ba56eba3541fee
-size 174184
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual.STL
deleted file mode 100644
index 5ed655610007a12fbbd861d5fdd2c6615a957491..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89468bdd401cc6335939953dda64182c03bcb51092b7a371b2fc18ae0aaa8302
-size 1152940
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual_.STL b/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual_.STL
deleted file mode 100644
index 6ad6a213be9329968ae146af938242984851140b..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_hand_C_MC_visual_.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0e7c42e037b4bc94e35afd2f1c1d3c569d7b14554911bb380fa631691b5d2550
-size 214484
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC.STL b/processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC.STL
deleted file mode 100644
index b160cd1fff5112f6dc08771e57db9126c4918813..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f7a7192ae246a6b88f9096332216013c8f6be507ee0dc9bfd4444518453b0c13
-size 41984
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC_visual.STL
deleted file mode 100644
index 3430f51d97897417bcefa68b92d889bdda6700ff..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_pinky_MC_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:98b520aa40d6f1fff0f433cfc6ef2baddb550a6452a8753301934812d111bbf1
-size 66184
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_CMC_VL.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_CMC_VL.STL
deleted file mode 100644
index ad57ea17a722c6d9af57a3e237d177033dd6c4ef..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_CMC_VL.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9c862ce10c4958ef967ed46fed837fafb20dd2c84a23ef9ee4f793576ef1fb93
-size 317984
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP.STL
deleted file mode 100644
index 45320ec15737084fd9ececeb7d644c50234a449c..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bd0a9187d9cca7c3136d471784db39a3593b5264e16586002f73db42292dc6e
-size 66484
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP_visual.STL
deleted file mode 100644
index 98040c7d2f9f334619a48767b52776fe684a4ca8..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_DP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bac46dd5699d6b2fed60fdb384199cdab7407343d61db3fc8737866096fa440
-size 335484
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC.STL
deleted file mode 100644
index d6865f49c8d454aedb29e4369110e3ce4782a9ba..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3f15b81f22feec350ae2f60a7c69ca36028bd580d6cf4722d4f759d401ea02f9
-size 171084
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MCP_VL_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MCP_VL_visual.STL
deleted file mode 100644
index 6a4bb555c66fcb99c802642d4315e1c86a0b51f7..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MCP_VL_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:47f990c04f09174666773687f9e4e1b4031dd150481c1d26719bbba874ae0709
-size 300784
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC_visual.STL
deleted file mode 100644
index 54875dfa1543654661e7c1d62bd4537cd660cf0f..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_MC_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:da4fb47f6126ca3b653689aea6d958e08dde7d0c232a3043773e18f447aa121a
-size 580084
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP.STL
deleted file mode 100644
index b484ecf14cb529ad6169296554bc11edaca39a6b..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2847673ad531a6d1fe3d12b3433d080358727def9acade9f0319c18579676b13
-size 83784
diff --git a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP_visual.STL
deleted file mode 100644
index 905ccea70550704c47c1a685e2ac01d44b510514..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/left_thumb_PP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7f4a561b611af82e27bb5c8d6838d574e71e2ede42d25edf1f57c2b54ebde072
-size 772184
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_DP.STL b/processed/oakink/assets/robots/sharpa/meshes/right_DP.STL
deleted file mode 100644
index eb632f86bb9654f518b02195a61311c52aff6569..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_DP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:09ae5e485d42c651c70d025ef6bcd000f727dd1535836d7d8fa9de0686db4583
-size 101684
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_DP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_DP_visual.STL
deleted file mode 100644
index bcaa80afc74b3d6faeaa5b2a4016dd7c183e3f46..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_DP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f21c6a8d12a21b29ff05127ec1987135cc966a283707165d93a30f9e74d4a0ed
-size 320284
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_MCP_VL_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_MCP_VL_visual.STL
deleted file mode 100644
index 395831d73f4e53557adc1e7f28d2e3bd412e64ca..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_MCP_VL_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ec48548aaafa6589112e9b609ed58f1b5e7ec0157ca15e0e4e8c93bff706a9d0
-size 322584
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_MP.STL b/processed/oakink/assets/robots/sharpa/meshes/right_MP.STL
deleted file mode 100644
index 3a897e66b7c4059dce778426693141f82fe597d1..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_MP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:98ad7e6e990f61857d6ad28860bba7e0dcba78761a513d60fdc527e9d56bbe8e
-size 37084
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_MP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_MP_visual.STL
deleted file mode 100644
index 53fe711ebb9fa3ca7be67d99d2cc5c0cff8a1474..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_MP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:af867d754ae0f3d5c38610f72cf4699789c82bb0391c2a406e6924f76e850ec6
-size 369384
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_PP.STL b/processed/oakink/assets/robots/sharpa/meshes/right_PP.STL
deleted file mode 100644
index 4ad70a34ef98ac333a1326b28e4d812d45a71bfb..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_PP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ed975b59e2569759ff28a397dab71d84667161d3b90b41d625bc5e1f5ac6536c
-size 81784
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_PP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_PP_visual.STL
deleted file mode 100644
index d83073e8555cfaf64e0a9d4349cd71eac6d18a43..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_PP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aa8b0ac6b6a7769033daa149416035712b23b79af0a7ddeb83d62142f8ff8a14
-size 560734
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC.STL b/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC.STL
deleted file mode 100644
index 5766098540c98dac4c186a3f91d0011cf5ec5a41..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8c52941db271e9331f0b32ec581c078af7f8cb372fb97f021d5b1dec2d2426ae
-size 174184
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual.STL
deleted file mode 100644
index 1ddb16a447e8a12a3467ef3d59913f8fea8dcb65..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:afbc91ea623847f7320a6f3ecae481574d6fb9fa7bfcb0650a2166a8d656ecd0
-size 1148956
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual_.STL b/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual_.STL
deleted file mode 100644
index a22cd649ddcf204d8ae0ef438b3525eafddf89b2..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_hand_C_MC_visual_.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:496da9148b99a003ebbbb2eab879c3b9ab1509f74294599f22d79892e82879a4
-size 214484
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC.STL b/processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC.STL
deleted file mode 100644
index d284e130ee9fa7bcdf6c94d4197f33216ce8276a..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f8207aff0f2f6ca2f1de1a8bbbbcd4183300bc3778d55821c2aae9b490b7dd3
-size 41884
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC_visual.STL
deleted file mode 100644
index ce80e4d4cb149f5bcaf552942c9b3c212a65d534..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_pinky_MC_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4b3902eda84c7f10cc7fd45f0512264a731d52ed8b9be91bf2fc9981d0e7c03d
-size 66184
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL
deleted file mode 100644
index eb860046045eec154ea45ad38fa337d2019718aa..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ebaf499965a51e4b539b7ec5481efbddaf2003b69d0e5e72425a430cecd187b0
-size 317984
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP.STL
deleted file mode 100644
index 45320ec15737084fd9ececeb7d644c50234a449c..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bd0a9187d9cca7c3136d471784db39a3593b5264e16586002f73db42292dc6e
-size 66484
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP_visual.STL
deleted file mode 100644
index 98040c7d2f9f334619a48767b52776fe684a4ca8..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_DP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bac46dd5699d6b2fed60fdb384199cdab7407343d61db3fc8737866096fa440
-size 335484
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC.STL
deleted file mode 100644
index 29db11e69f55de76295e105bce83772f36e443e0..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:deb6d97eb2d7223d72c23ebb32f874644dcf78848389f14dcabe3016aae5dd6c
-size 149584
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL
deleted file mode 100644
index e58fba88342a931c5b87683ed3c96ec51720aa2a..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:30d656738130093b7023100c73fac065a173aaba2e4314034c050c984005d634
-size 300784
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC_visual.STL
deleted file mode 100644
index 6bf9abf470c3ca18228783fcd99c7fc351f42db7..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_MC_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:81f4bf8c39117b7bf7a4f0fdeb577948056139a84927adc55e9b049434a41a3b
-size 625334
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP.STL
deleted file mode 100644
index 9ed69f2c08872f8b947bc206e5e57b2b77235d6a..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:795b35f943c4272314d5e72497aaea2ef998458b0259a6609577d3694aeff869
-size 85884
diff --git a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP_visual.STL b/processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP_visual.STL
deleted file mode 100644
index 66b583ea5272fbceadf5a259daab7593e2b1762e..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/right_thumb_PP_visual.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1024905f9af3ad14160ce55d2e1d98fb7028274f7b267bee8b057754eb165faa
-size 719834
diff --git a/processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer.STL b/processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer.STL
deleted file mode 100644
index a05d390dafdfb4d3e0b97003eb5bb0b15b6406dc..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8fb5b2036eda97fe4c2ce50ad8e021775185961c478c0d6f25f5a776588d9b14
-size 270684
diff --git a/processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer_surface.STL b/processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer_surface.STL
deleted file mode 100644
index 1dbb5d071c78ab5f77c8791d99da59c4b9876436..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/meshes/thumb_elastomer_surface.STL
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1b25efc390f9db9eca87ed167e7baa2e3220a417bbd49924beb077da458c6241
-size 506484
diff --git a/processed/oakink/assets/robots/sharpa/right.xml b/processed/oakink/assets/robots/sharpa/right.xml
deleted file mode 100644
index 9bc431d93bc49f9012142d08e758270f85f213c1..0000000000000000000000000000000000000000
--- a/processed/oakink/assets/robots/sharpa/right.xml
+++ /dev/null
@@ -1,427 +0,0 @@
-<mujoco model="right_sharpa">
-  <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
-
-  <option timestep="0.01" iterations="6" solver="CG" jacobian="auto">
-    <flag eulerdamp="disable" />
-  </option>
-
-  <default>
-    <!-- Disable all contacts by default, use explicit collision pairs -->
-    <geom density="800" condim="1" contype="0" conaffinity="0" />
-
-    <!-- Position controller settings (response time ~1s) -->
-    <position kp="300" dampratio="1.0" inheritrange="1" />
-
-    <!-- Joint dynamics -->
-    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
-
-    <!-- Trace sites for visualization -->
-    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
-  </default>
-
-  <asset>
-    <!-- Skybox texture -->
-    <texture type="skybox" builtin="gradient"
-             rgb1="1 1 1" rgb2="1 1 1"
-             width="512" height="3072" />
-
-    <!-- Ground plane texture -->
-    <texture type="2d" name="right_groundplane" builtin="checker"
-             mark="edge" rgb1="1 1 1" rgb2="1 1 1"
-             markrgb="0 0 0" width="300" height="300" />
-
-    <!-- Ground material -->
-    <material name="right_groundplane" texture="right_groundplane"
-              texuniform="true" texrepeat="5 5" reflectance="0.2" />
-
-    <!-- Hand meshes -->
-    <mesh name="right_hand_C_MC_visual" file="right_hand_C_MC_visual_.STL"/>
-    <mesh name="right_hand_C_MC" file="right_hand_C_MC.STL"/>
-    <mesh name="right_thumb_CMC_VL_visual" file="right_thumb_CMC_VL_visual.STL"/>
-    <mesh name="right_thumb_MC_visual" file="right_thumb_MC_visual.STL"/>
-    <mesh name="right_thumb_MC" file="right_thumb_MC.STL"/>
-    <mesh name="right_thumb_MCP_VL_visual" file="right_thumb_MCP_VL_visual.STL"/>
-    <mesh name="right_thumb_PP_visual" file="right_thumb_PP_visual.STL"/>
-    <mesh name="right_thumb_PP" file="right_thumb_PP.STL"/>
-    <mesh name="right_thumb_DP_visual" file="right_thumb_DP_visual.STL"/>
-    <mesh name="right_thumb_DP" file="right_thumb_DP_visual.STL"/>
-    <mesh name="right_thumb_elastomer" file="thumb_elastomer.STL"/>
-    <mesh name="right_MCP_VL_visual" file="right_MCP_VL_visual.STL"/>
-    <mesh name="right_MCP_VL" file="MCP_VL.STL"/>
-    <mesh name="right_PP_visual" file="right_PP_visual.STL"/>
-    <mesh name="right_PP" file="right_PP.STL"/>
-    <mesh name="right_MP_visual" file="right_MP_visual.STL"/>
-    <mesh name="right_MP" file="right_MP.STL"/>
-    <mesh name="right_DP_visual" file="right_DP_visual.STL"/>
-    <mesh name="right_DP" file="right_DP_visual.STL"/>
-    <mesh name="right_elastomer" file="elastomer.STL"/>
-    <mesh name="right_pinky_MC_visual" file="right_pinky_MC_visual.STL"/>
-    <mesh name="right_pinky_MC" file="right_pinky_MC.STL"/>
-  </asset>
-
-  <worldbody>
-    <!-- Directional light -->
-    <light pos="0 0 3" dir="0 0 -1" directional="true"/>
-
-    <!-- Tracking camera -->
-    <camera name="right_track" pos="0.868 0.348 -0.175"
-            xyaxes="-0.037 0.999 -0.000 -0.011 -0.000 1.000" mode="trackcom"/>
-
-    <!-- Right hand with 6-DOF base -->
-    <body name="right_hand_base" pos="0 0 0.2">
-      <!-- Base 6-DOF joints (3 translation + 3 rotation) -->
-      <joint name="right_pos_x" type="slide" axis="1 0 0" range="-5 5"/>
-      <joint name="right_pos_y" type="slide" axis="0 1 0" range="-5 5"/>
-      <joint name="right_pos_z" type="slide" axis="0 0 1" range="-5 5"/>
-      <joint name="right_rot_x" type="hinge" axis="1 0 0" range="-6.28 6.28"/>
-      <joint name="right_rot_y" type="hinge" axis="0 1 0" range="-6.28 6.28"/>
-      <joint name="right_rot_z" type="hinge" axis="0 0 1" range="-6.28 6.28"/>
-
-      <!-- Hand base body -->
-      <body name="right_hand_C_MC" pos="0 0 0">
-        <inertial pos="-0.00216 0.00536 0.04011" quat="0.713832 -0.0659364 0.0757239 0.693082" mass="0.6506" diaginertia="0.000814964 0.000674257 0.00027314"/>
-        <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual" name="right_hand_C_MC_visual"/>
-        <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC" name="right_hand_C_MC"/>
-
-        <!-- Collision geometry for palm -->
-        <geom name="collision_hand_right_palm_0" type="box" size="0.02 0.04 0.04" pos="0 0 0.05" group="3" rgba="0 1 0 1" />
-
-        <!-- Tracking site for palm (Z-axis forward, X-axis down) -->
-        <site name="right_palm" pos="0 0 0.05" euler="0 0 0" size="0.01" type="sphere" rgba="1 1 0 1" group="3" />
-
-        <!-- Thumb -->
-        <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
-          <inertial pos="-0.00065 0.0002 0" quat="0.434754 0.557664 -0.434754 0.557664" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
-          <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_CMC_VL_visual"/>
-
-          <body name="right_thumb_MC" pos="0 -0.005 0" quat="0.65328 -0.653282 0.270598 0.270599">
-            <inertial pos="0.03643 -0.01024 0.00517" quat="-0.151259 0.696943 -0.154462 0.683763" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
-            <joint name="right_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual" name="right_thumb_MC_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC" name="right_thumb_MC"/>
-
-            <!-- Collision for thumb metacarpal -->
-            <geom name="collision_hand_right_thumb_3" type="capsule" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="1 0 1 0" group="3" rgba="0 1 0 1" />
-
-            <body name="right_thumb_MCP_VL" pos="0.065 -0.006 0.010392" quat="0.965926 0.25882 0 0">
-              <inertial pos="-1.29e-09 -1.1e-10 0" quat="0.515163 0.484363 -0.515163 0.484363" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
-              <joint name="right_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MCP_VL_visual"/>
-
-              <body name="right_thumb_PP" quat="0.707105 -0.707108 0 0">
-                <inertial pos="0.021256 -0.00095 -0.00092" quat="0.44358 0.511613 0.483631 0.554609" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
-                <joint name="right_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual" name="right_thumb_PP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP" name="right_thumb_PP"/>
-
-                <!-- Collision for thumb proximal phalanx -->
-                <geom name="collision_hand_right_thumb_2" type="capsule" size="0.008 0.015" pos="0.019 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <body name="right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0">
-                  <inertial pos="0.00821817 -0.00177722 -0.000997218" quat="-0.255985 0.713848 -0.187441 0.624306" mass="0.007981" diaginertia="1.0905e-06 1.04136e-06 2.95182e-07"/>
-                  <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual" name="right_thumb_DP_visual"/>
-                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP" name="right_thumb_DP"/>
-                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer" name="right_thumb_elastomer_visual"/>
-                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer" name="right_thumb_elastomer"/>
-
-                  <!-- Collision geometry for thumb distal phalanx -->
-                  <geom name="collision_hand_right_thumb_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Collision geometry for thumb tip/elastomer -->
-                  <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Trace site for thumb tip -->
-                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                  <!-- Tracking site for thumb tip -->
-                  <site name="right_thumb_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Index finger -->
-        <body name="right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-
-          <body name="right_index_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_index_PP_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_index_PP"/>
-
-            <!-- Collision for index proximal phalanx -->
-            <geom name="collision_hand_right_index_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-            <body name="right_index_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_index_MP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_index_MP"/>
-
-              <!-- Collision for index intermediate phalanx -->
-              <geom name="collision_hand_right_index_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="right_index_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_index_DP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_index_DP"/>
-                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_index_elastomer_visual"/>
-                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_index_elastomer"/>
-
-                <!-- Collision geometry for index distal phalanx -->
-                <geom name="collision_hand_right_index_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Collision geometry for index fingertip/elastomer -->
-                <geom name="collision_hand_right_index_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Trace site for index tip -->
-                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                <!-- Tracking site for index tip -->
-                <site name="right_index_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Middle finger -->
-        <body name="right_middle_MCP_VL" pos="0 0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-
-          <body name="right_middle_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_middle_PP_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_middle_PP"/>
-
-            <!-- Collision for middle proximal phalanx -->
-            <geom name="collision_hand_right_middle_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-            <body name="right_middle_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_middle_MP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_middle_MP"/>
-
-              <!-- Collision for middle intermediate phalanx -->
-              <geom name="collision_hand_right_middle_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="right_middle_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_middle_DP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_middle_DP"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_middle_elastomer_visual"/>
-                <geom quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_middle_elastomer"/>
-
-                <!-- Collision geometry for middle distal phalanx -->
-                <geom name="collision_hand_right_middle_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Collision geometry for middle fingertip/elastomer -->
-                <geom name="collision_hand_right_middle_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Trace site for middle tip -->
-                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                <!-- Tracking site for middle tip -->
-                <site name="right_middle_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Ring finger -->
-        <body name="right_ring_MCP_VL" pos="0.0015 -0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-
-          <body name="right_ring_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_ring_PP_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_ring_PP"/>
-
-            <!-- Collision for ring proximal phalanx -->
-            <geom name="collision_hand_right_ring_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-            <body name="right_ring_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_ring_MP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_ring_MP"/>
-
-              <!-- Collision for ring intermediate phalanx -->
-              <geom name="collision_hand_right_ring_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="right_ring_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_ring_DP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_ring_DP"/>
-                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_ring_elastomer_visual"/>
-                <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer" name="right_ring_elastomer"/>
-
-                <!-- Collision geometry for ring distal phalanx -->
-                <geom name="collision_hand_right_ring_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Collision geometry for ring fingertip/elastomer -->
-                <geom name="collision_hand_right_ring_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <!-- Trace site for ring tip -->
-                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                <!-- Tracking site for ring tip -->
-                <site name="right_ring_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-              </body>
-            </body>
-          </body>
-        </body>
-
-        <!-- Pinky finger -->
-        <body name="right_pinky_MC" pos="0.01136 -0.0263 0.0869" quat="-3.67321e-06 0 0 1">
-          <inertial pos="0.0107985 0.00598801 0.0335125" quat="0.706956 -0.000832392 -0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
-          <joint name="right_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual" name="right_pinky_MC_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC" name="right_pinky_MC"/>
-
-          <!-- Collision for pinky metacarpal -->
-          <!-- <geom name="collision_hand_right_pinky_4" type="capsule" size="0.008 0.015" pos="0.008 0.004 0.015" quat="0.866 0.5 0 0" group="3" rgba="0 1 0 1" /> -->
-
-          <body name="right_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 0.5 -0.5 0.500002">
-            <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-            <joint name="right_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.17453293 1.5708"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-
-            <body name="right_pinky_PP" quat="0.707105 -0.707108 0 0">
-              <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-              <joint name="right_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual" name="right_pinky_PP_visual"/>
-              <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP" name="right_pinky_PP"/>
-
-              <!-- Collision for pinky proximal phalanx -->
-              <geom name="collision_hand_right_pinky_3" type="capsule" size="0.008 0.019" pos="0.023 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-              <body name="right_pinky_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-                <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-                <joint name="right_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual" name="right_pinky_MP_visual"/>
-                <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP" name="right_pinky_MP"/>
-
-                <!-- Collision for pinky intermediate phalanx -->
-                <geom name="collision_hand_right_pinky_2" type="capsule" size="0.008 0.013" pos="0.015 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                <body name="right_pinky_DP" pos="0.0315 0 0">
-                  <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                  <joint name="right_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                  <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual" name="right_pinky_DP_visual"/>
-                  <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP" name="right_pinky_DP"/>
-                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.1 1 0.2 1" mesh="right_elastomer" name="right_pinky_elastomer_visual"/>
-                  <geom quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer" name="right_pinky_elastomer"/>
-
-                  <!-- Collision geometry for pinky distal phalanx -->
-                  <geom name="collision_hand_right_pinky_1" type="capsule" size="0.008 0.008" pos="0.012 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Collision geometry for pinky fingertip/elastomer -->
-                  <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008 0.006" pos="0.022 0 0" quat="0.707 0 0.707 0" group="3" rgba="0 1 0 1" />
-
-                  <!-- Trace site for pinky tip -->
-                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005" type="sphere" rgba="1 0 0 1" group="3" />
-
-                  <!-- Tracking site for pinky tip -->
-                  <site name="right_pinky_tip" pos="0.028 0 0" size="0.01" type="sphere" rgba="0 1 1 1" group="3" />
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <!-- Base DOFs (for free-floating hand) -->
-    <position name="right_pos_x_position" joint="right_pos_x" kp="1000" />
-    <position name="right_pos_y_position" joint="right_pos_y" kp="1000" />
-    <position name="right_pos_z_position" joint="right_pos_z" kp="1000" />
-    <position name="right_rot_x_position" joint="right_rot_x" kp="1000" />
-    <position name="right_rot_y_position" joint="right_rot_y" kp="1000" />
-    <position name="right_rot_z_position" joint="right_rot_z" kp="1000" />
-
-    <!-- Thumb actuators -->
-    <position name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" kp="6.95" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" kp="13.2" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_thumb_IP_ctrl" joint="right_thumb_IP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Index finger actuators -->
-    <position name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_index_PIP_ctrl" joint="right_index_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_index_DIP_ctrl" joint="right_index_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Middle finger actuators -->
-    <position name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_middle_PIP_ctrl" joint="right_middle_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_middle_DIP_ctrl" joint="right_middle_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Ring finger actuators -->
-    <position name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_ring_PIP_ctrl" joint="right_ring_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_ring_DIP_ctrl" joint="right_ring_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-
-    <!-- Pinky actuators -->
-    <position name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" kp="1.38" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" kp="4.76" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" kp="6.62" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-    <position name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" kp="0.9" dampratio="0.9" inheritrange="1.0"/>
-  </actuator>
-
-  <contact>
-    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
-    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
-    <exclude body1="right_thumb_MC" body2="right_thumb_MCP_VL"/>
-    <exclude body1="right_thumb_MC" body2="right_thumb_PP"/>
-    <exclude body1="right_thumb_MCP_VL" body2="right_thumb_PP"/>
-    <exclude body1="right_thumb_PP" body2="right_thumb_DP"/>
-    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
-    <exclude body1="right_index_MCP_VL" body2="right_index_PP"/>
-    <exclude body1="right_index_PP" body2="right_index_MP"/>
-    <exclude body1="right_index_MP" body2="right_index_DP"/>
-    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
-    <exclude body1="right_middle_MCP_VL" body2="right_middle_PP"/>
-    <exclude body1="right_middle_PP" body2="right_middle_MP"/>
-    <exclude body1="right_middle_MP" body2="right_middle_DP"/>
-    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
-    <exclude body1="right_ring_MCP_VL" body2="right_ring_PP"/>
-    <exclude body1="right_ring_PP" body2="right_ring_MP"/>
-    <exclude body1="right_ring_MP" body2="right_ring_DP"/>
-    <exclude body1="right_hand_C_MC" body2="right_pinky_MC"/>
-    <exclude body1="right_pinky_MC" body2="right_pinky_MCP_VL"/>
-    <exclude body1="right_pinky_MC" body2="right_pinky_PP"/>
-    <exclude body1="right_pinky_MCP_VL" body2="right_pinky_PP"/>
-    <exclude body1="right_pinky_PP" body2="right_pinky_MP"/>
-    <exclude body1="right_pinky_MP" body2="right_pinky_DP"/>
-  </contact>
-</mujoco>
diff --git a/processed/oakinkv2/assets/objects/O02_0011_00003/convex/8.obj b/processed/oakinkv2/assets/objects/O02_0011_00003/convex/8.obj
index 37ddfb362c803c486fd269cb0364b5b58c639431..457155ce27f9e25c0b9357ef58cef90f16f950bd 100644
--- a/processed/oakinkv2/assets/objects/O02_0011_00003/convex/8.obj
+++ b/processed/oakinkv2/assets/objects/O02_0011_00003/convex/8.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1e6692fc9d2575aaac4598d015c8b1965c68d63054f941b5b9f1391a8fcccb5f
+oid sha256:d44fd0d8ac5265c1b64b75bc65d61646a6be54d364521565830b156386f80be3
 size 429
diff --git a/processed/oakinkv2/assets/objects/O02_0030_00002/convex/10.obj b/processed/oakinkv2/assets/objects/O02_0030_00002/convex/10.obj
index e35adc5dc09f0cf46d1ca01278ee5a528653fc2d..ec232a57e4a9795996d2235ef899a13844d73ddf 100644
--- a/processed/oakinkv2/assets/objects/O02_0030_00002/convex/10.obj
+++ b/processed/oakinkv2/assets/objects/O02_0030_00002/convex/10.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ccbd01459c787329b90def0f5e4302aae24f66f9ce2809d6056eb97f711b78a4
-size 425
+oid sha256:08f761ed1886d750a08d635bbce0cd55df8253e6f45164ba6bac3e1eb9a2fba7
+size 420
diff --git a/processed/oakinkv2/assets/objects/O02_0033_00001/convex/8.obj b/processed/oakinkv2/assets/objects/O02_0033_00001/convex/8.obj
index e7835f638847fbfcf36080d91fbf6e09afefffd2..8859f4e3f5f12974e902f0a516cf5bc3bec26035 100644
--- a/processed/oakinkv2/assets/objects/O02_0033_00001/convex/8.obj
+++ b/processed/oakinkv2/assets/objects/O02_0033_00001/convex/8.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:be1fa72e3206c7d40d93edb4502996dc15098caf4d8f62f260a1b64727c976ac
-size 420
+oid sha256:a0fa3403bc4777ea047560265af891b9f38a0b961cf9f1a93b981fc300c912f4
+size 421
diff --git a/processed/oakinkv2/assets/objects/O02_0055_00002/convex/8.obj b/processed/oakinkv2/assets/objects/O02_0055_00002/convex/8.obj
index 3cb3ee3fece1526b55a26da2b5d0666ffc8d205c..83e1dde7cae91ebfcca030e557740ccf9749fb68 100644
--- a/processed/oakinkv2/assets/objects/O02_0055_00002/convex/8.obj
+++ b/processed/oakinkv2/assets/objects/O02_0055_00002/convex/8.obj
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a462dadd9fede26bda285124a5e1c215d10c5484fd1725f81320a202b4ff449c
+oid sha256:339c6ff85108fc3e0f88b9b9b5cc554229355173b13461e20a939c0b03730784
 size 429
diff --git a/processed/oakinkv2/mano/right/pick_spoon_bowl/0/trajectory_keypoints.npz b/processed/oakinkv2/mano/right/pick_spoon_bowl/0/trajectory_keypoints.npz
index d558a79d49069edc8127241bf7c7b4f65f21046c..5ff6aeb57d01498ddfb0a58db202b833dfea68bb 100644
--- a/processed/oakinkv2/mano/right/pick_spoon_bowl/0/trajectory_keypoints.npz
+++ b/processed/oakinkv2/mano/right/pick_spoon_bowl/0/trajectory_keypoints.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a7eff1a36e3dfb28f49f39694ef79de1ad0a31fe8006ba8882099d4f80ee4f5b
-size 158396
+oid sha256:bf5216149be531baa4d6f57a8a08a8a9c142e62c244faaff68b2244bb9c0e7ea
+size 191920
diff --git a/processed/oakinkv2/mano/right/pick_spoon_bowl/task_info.json b/processed/oakinkv2/mano/right/pick_spoon_bowl/task_info.json
index 27a3f2a4c7eb68c3333b65acf3ac7b608aa702bb..02ad980bfed0fe8d706d7edd03a221c27cd637f7 100644
--- a/processed/oakinkv2/mano/right/pick_spoon_bowl/task_info.json
+++ b/processed/oakinkv2/mano/right/pick_spoon_bowl/task_info.json
@@ -22,10 +22,21 @@
     931,
     1411
   ],
-  "obj_first_frame_lowest_world_z": 0.0070551150312037555,
-  "scene_lowest_world_z": 0.006876816536960102,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.00017829849424363248,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.04294488496879626,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.007055115031203735,
+  "right_obj_first_frame_xy": [
+    0.28416763729995526,
+    -0.08759002740783733
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.01,
+  "right_plate_bottom_world_z": 0.0,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0030_00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/mano/right/pour_tube/0/trajectory_keypoints.npz b/processed/oakinkv2/mano/right/pour_tube/0/trajectory_keypoints.npz
index 69ffb6d9b260a24bb624874dbea5b418d3081e09..cc9ed2bd2b5987efc3300a2aeff86a02af25d8d8 100644
--- a/processed/oakinkv2/mano/right/pour_tube/0/trajectory_keypoints.npz
+++ b/processed/oakinkv2/mano/right/pour_tube/0/trajectory_keypoints.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0ee8f61b0fc9a9b34a604bcf37a01818a3ddbce55923b90e5d6db06efaeabd92
-size 158396
+oid sha256:dc7f10c6e3eafd0f3b7bfdf61c93f665bc79495d7d747443def4a0ec344acd7c
+size 191920
diff --git a/processed/oakinkv2/mano/right/pour_tube/task_info.json b/processed/oakinkv2/mano/right/pour_tube/task_info.json
index b3a92ce4f6fe85cd80d22b6c11c5379953eb9078..6390fd54e4718c9661c2f9376b2e597982d75520 100644
--- a/processed/oakinkv2/mano/right/pour_tube/task_info.json
+++ b/processed/oakinkv2/mano/right/pour_tube/task_info.json
@@ -22,10 +22,21 @@
     1011,
     1491
   ],
-  "obj_first_frame_lowest_world_z": 0.17493900291149875,
-  "scene_lowest_world_z": 0.17455401396831044,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.000384988943188308,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": 0.12493900291149874,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.17493900291149875,
+  "right_obj_first_frame_xy": [
+    0.507747265285669,
+    -0.03249077152461064
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.010000000000000007,
+  "right_plate_bottom_world_z": 6.938893903907228e-18,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0011_00003/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/mano/right/stir_beaker/0/trajectory_keypoints.npz b/processed/oakinkv2/mano/right/stir_beaker/0/trajectory_keypoints.npz
index e6cef816228ffe7e066e2eb8ad35bd46a1192a97..b383352277d90a31af421186c633eb74be7f933d 100644
--- a/processed/oakinkv2/mano/right/stir_beaker/0/trajectory_keypoints.npz
+++ b/processed/oakinkv2/mano/right/stir_beaker/0/trajectory_keypoints.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3b36a144436bbb1d0df6364dafe2be9d4239406fb2f7061edb41bfd6ee551a45
-size 158396
+oid sha256:6eb4b3656d756184241d072affedd6213a3c4849ee39dbdbb6387a6e0e75e29a
+size 191920
diff --git a/processed/oakinkv2/mano/right/stir_beaker/task_info.json b/processed/oakinkv2/mano/right/stir_beaker/task_info.json
index 5bc98a76393cb3685f0953b881812c44ad4f9325..1ac6f77c17d673340af467d6cdf67fabb3e18c78 100644
--- a/processed/oakinkv2/mano/right/stir_beaker/task_info.json
+++ b/processed/oakinkv2/mano/right/stir_beaker/task_info.json
@@ -22,10 +22,21 @@
     7867,
     8347
   ],
-  "obj_first_frame_lowest_world_z": 0.004580366042942041,
-  "scene_lowest_world_z": 0.0031443246514626932,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.0014360413914793202,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.04541963395705796,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.004580366042942055,
+  "right_obj_first_frame_xy": [
+    0.20226336718514756,
+    0.16152804864696743
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.01,
+  "right_plate_bottom_world_z": 0.0,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0033_00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/mano/right/wipe_board/0/trajectory_keypoints.npz b/processed/oakinkv2/mano/right/wipe_board/0/trajectory_keypoints.npz
index 3431cdfe19a942dd3c19513b5ab0b73d5ab3c577..f845477717390ae73bb6f1bbce0121f53c356fc8 100644
--- a/processed/oakinkv2/mano/right/wipe_board/0/trajectory_keypoints.npz
+++ b/processed/oakinkv2/mano/right/wipe_board/0/trajectory_keypoints.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2e2b82bf3493eb97498252eedabcaf507a8875832290fecfc798f76e15e5bb71
-size 158396
+oid sha256:576085c900cdeed62f7bc8e59cc65a5a4b862599dab1c5f2b891565e85370a51
+size 191920
diff --git a/processed/oakinkv2/mano/right/wipe_board/task_info.json b/processed/oakinkv2/mano/right/wipe_board/task_info.json
index 2c09312d0da16546224df0e8bff35c01aa5a16b1..071bad64b4dd53217c62a05c74de1ce2c2c589fb 100644
--- a/processed/oakinkv2/mano/right/wipe_board/task_info.json
+++ b/processed/oakinkv2/mano/right/wipe_board/task_info.json
@@ -22,10 +22,21 @@
     687,
     1167
   ],
-  "obj_first_frame_lowest_world_z": 0.04448936191514089,
-  "scene_lowest_world_z": 0.044203837933111854,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.0002855239820290442,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.005510638084859111,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.0444893619151409,
+  "right_obj_first_frame_xy": [
+    0.3156648607724243,
+    -0.12733603169148697
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.009999999999999997,
+  "right_plate_bottom_world_z": -3.469446951953614e-18,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0055_00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml
index f3f73d11ecdfe5a6e3b3ca1e5ae1a90f3838d3fb..56a33527784b588289d7446aedad70f4a9891d6c 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: sharpa
 embodiment_type: right
 task: pick_spoon_bowl
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 35
 nv: 34
 nu: 28
-npair: 257
+npair: 147
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/sanity_check_drift.mp4 b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ee7a12cd4b8dabdbdcb90df5c3d83fc630cfee3
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a286a8e4a04ff4c308ab0790260a10e001608bdc797a8f5a5e16f5942567f6a5
+size 11091
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
index 9c696a84b2d08098e701335f2dcfcad57f740ecf..9be1cc338b11e2327cbefc507e8446c15ee39605 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a739a590cb0c5ef13b368e6caf7ee068e490605f755f1a1035e0db8a2e86400d
+oid sha256:119e510474a758689c922b67d6f36334e672cf1acbf9979f822060ae88792236
 size 55142
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
index e115d264049a6161c7dc8fd06eb0e29cb6b5bd9b..cea08de320157a2fbadfdce97d565aa159101601 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b014fba21a3a4e85ad63d03ebbd85204f7aaaff642462f1a03c744b36bb2204f
+oid sha256:186c586f73cd8aa233de08955ef5b3b09e720f49803227805341bd9022c59171
 size 108952
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
index 3bf41f2a3c4b3fcab682103f2b227a5d6dc19cda..59b0ecc428760cfe1a7010408e91f275a8027937 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:da27c53e476a7d81b804545dfe0e483595e6cb4a6125219dd4df26af96f1eb9f
-size 609707
+oid sha256:b10fcb9aeba3e6be86d7fb88f39bd7fdfe37319713770e8017389f8e17a146e8
+size 620533
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4
index 40d4bebcadce75f9cf28af5ede3760e9076358e6..21ae47d8aa46a2af1daa185fecd3ab7e2e52df71 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:92f92a301bb1658219912792ab378f53997452da54982dcb6a12659b947e3547
-size 161180
+oid sha256:f00d34c5f0fdac1ba54ea4ade9bd3a296c979a8e754602619831d3c034db378a
+size 169071
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
index 475112e2f81c1cdc872cd716015f4a8202259414..3c5b9f77bb808c3a0fabe7a0ee7ebc940eb1cce1 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c81f6930fd8b3286627f934b667298c48a17f743c166c89ac163314e5030bc88
-size 345983
+oid sha256:8fdb293af593f2f3bf0e1d94e8f26cdd2ae86b273bb9482e6be9e2518f2da064
+size 339418
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml
index bd21cff36a4693750a1e7a8b688fde5c903ae0b2..53d66419bdaf330c7b4960dcb0fcdbe736f0b913 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene.xml
@@ -56,7 +56,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -261,9 +261,9 @@
       <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_thumb_tip" pos="-0.00446981 0.0218741 -0.0461562" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0120602 -0.000574222 -0.0379616" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0198792 -0.00757467 -0.0236972" 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>
@@ -594,27 +594,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml
index f726f18a208f35a84a336b2031e9bd3d12136e27..aa702a8bea9724b4e6123804c2dd9c64756a5b95 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/scene_eq.xml
@@ -56,7 +56,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -261,9 +261,9 @@
       <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_thumb_tip" pos="-0.00446981 0.0218741 -0.0461562" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0120602 -0.000574222 -0.0379616" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0198792 -0.00757467 -0.0236972" 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>
@@ -602,27 +602,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json
index dc50f8087d9d2ea3656a5f33292642698153f81e..ff821317afb8cc1ad4e2e966b789d613ade6576a 100644
--- a/processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json
+++ b/processed/oakinkv2/sharpa/right/pick_spoon_bowl/task_info.json
@@ -22,10 +22,21 @@
     931,
     1411
   ],
-  "obj_first_frame_lowest_world_z": 0.0070551150312037555,
-  "scene_lowest_world_z": 0.006876816536960102,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.00017829849424363248,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.04294488496879626,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.007055115031203735,
+  "right_obj_first_frame_xy": [
+    0.28416763729995526,
+    -0.08759002740783733
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.01,
+  "right_plate_bottom_world_z": 0.0,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0030_00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml b/processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml
index 47fd3e54d74c2734a6f7b9f224b9a519d35fa349..9fd0a370cb8d694ff795ef0e63d8bd1ec1f92fb2 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: sharpa
 embodiment_type: right
 task: pour_tube
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 35
 nv: 34
 nu: 28
-npair: 213
+npair: 389
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/pour_tube/0
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/sanity_check_drift.mp4 b/processed/oakinkv2/sharpa/right/pour_tube/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7173a379e25d3db4be433277cf7ccbf72a22ef3d
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df1c346af215d90cf9d2d1161553751632836fff2b0d37f8c3c16707a8d44240
+size 11222
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz
index 782dee5e990d86506c791a99b0ed909deda3c370..a4744e5d7a3fa5512092d98c15ea795ce4ab95ee 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:729a7530fd95dab8b5df78f5939edd45e49dd5235282bf106b8e23711757ddf9
+oid sha256:15d819821ce6ccda6b8495d6df641091cb08dc62d13d3abfe7f09d7646e87f36
 size 55142
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
index 01eb90eb546abb813301fcf922701b9f6e8779f2..c8de2f5f9834d3a32a0d98e9a66728bda24a0353 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d1b1f8b7ce49827ec4ab21c099f45137c5abcff5fec2924970db9a71f2d25a4f
+oid sha256:66fcb240407e3fd06a9bb4f98ced0dc855ff3a666c25083233c6a858ffd61481
 size 108952
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz
index 0fe2e65d1d59aee52a4c1ea05a9119e58033334c..41e9dbfafc2f8f207947fab039deaf22f73799f2 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a16342c6873767b0d6250fa0846031b1a1ae4e11397eead808e4231c601ca7c6
+oid sha256:4dc060424f2e9ffd17c2b9e8dbd333c48706f3ae90d1b8a32dbcc4a245139b47
 size 620533
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4
index 99438002077fba54cdbc77928866cad2bb1a6431..34d9fbee9069bb89ae46477eb2935d2a1473e395 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1d6a670037eb777100a43eb5b9dbb1898fefb29c36f4a56ba5367989eaf34880
-size 205439
+oid sha256:f0d41e3fc9cd96a880c7e8fc01596a0f2a281015724f5281bc7397fb0b656a6a
+size 191619
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4
index 0a3ffb6549d3717f0c9e56ee9e93e96acef14e64..ed6e2dee009ffc62b5092a9bf62fa3159f16e04f 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/sharpa/right/pour_tube/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bee1ebfe98110a23785a698732d1740205733fa3c3035438562db26de68c39b
-size 422441
+oid sha256:db91fff3eb150f06347c7ef2b4f8f27a30e2eee9d0046d30d5dd188d0755482a
+size 397137
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/scene.xml b/processed/oakinkv2/sharpa/right/pour_tube/scene.xml
index fbaa8987ab7ec3b762958dd0e26fe90679d90ef5..90439ede37b30d5d1f3f8118acae0c423ee89c78 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/scene.xml
+++ b/processed/oakinkv2/sharpa/right/pour_tube/scene.xml
@@ -54,7 +54,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.113939" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -257,10 +257,10 @@
       <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" 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_thumb_tip" pos="0.00987971 -0.0445796 -0.0199928" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00304407 0.0373192 0.0111886" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0128947 0.0383061 -0.0146752" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0115219 0.0512124 -0.0220891" 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">
@@ -546,27 +546,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml b/processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml
index 5ffe9a0faf5c5fdc9ad3e7ee05a7c1f7f79a98a1..3b93a0d2979ba9430140a126b46dc8fb06fd2400 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml
+++ b/processed/oakinkv2/sharpa/right/pour_tube/scene_eq.xml
@@ -54,7 +54,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.113939" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -257,10 +257,10 @@
       <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" 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_thumb_tip" pos="0.00987971 -0.0445796 -0.0199928" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00304407 0.0373192 0.0111886" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0128947 0.0383061 -0.0146752" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0115219 0.0512124 -0.0220891" 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">
@@ -554,27 +554,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/pour_tube/task_info.json b/processed/oakinkv2/sharpa/right/pour_tube/task_info.json
index 95423cc22da5ec68501ed20279f10855b4f781b6..fc685ed8ff7f2e9715a0d7153b031d70b7b648b7 100644
--- a/processed/oakinkv2/sharpa/right/pour_tube/task_info.json
+++ b/processed/oakinkv2/sharpa/right/pour_tube/task_info.json
@@ -22,10 +22,21 @@
     1011,
     1491
   ],
-  "obj_first_frame_lowest_world_z": 0.17493900291149875,
-  "scene_lowest_world_z": 0.17455401396831044,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.000384988943188308,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": 0.12493900291149874,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.17493900291149875,
+  "right_obj_first_frame_xy": [
+    0.507747265285669,
+    -0.03249077152461064
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.010000000000000007,
+  "right_plate_bottom_world_z": 6.938893903907228e-18,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0011_00003/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml b/processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml
index 588e1263101a4a0e09f829595f1bea5d10410e6d..309ddb339173018f2cc19f483fe87815ff7044fe 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: sharpa
 embodiment_type: right
 task: stir_beaker
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 35
 nv: 34
 nu: 28
-npair: 213
+npair: 59
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/stir_beaker/0
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/sanity_check_drift.mp4 b/processed/oakinkv2/sharpa/right/stir_beaker/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb3e1d214a6ed1ebaf5ccafbec5dc5798188dfc7
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d4ad03143359afda7310d040c12ece557fb6325167feec5d067453f838379e
+size 10984
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz
index 468154cff4eba712c6c98ea9e72d113299ceeadc..8d4fb0f09fbcebb67476fb254a6640d090745008 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d0596617af718a25cf3f7e4d93648bca8f17b856628b4767b77f449f64d03e73
+oid sha256:1fbfab754c8d1adb9639b0172f0f775ce9582dd9ccc7b952dbde14f3eac2c574
 size 55142
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
index aa1d70d4778df067f603aa89f61cac85fb7e3661..8d6d5da1ae55c1f045d2ed1429a14002d2bd94ba 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:645235ca4aaa0e4ce9997944c4a351bb2b0da83416c99fa1ceee08e0aaf24a93
+oid sha256:cfaf6e3409a4b447f762b9899f125ce04e91c56a517bf4a15dc074bdc488ac66
 size 108952
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_mjwp_fast.npz
index c016e6b49fcf48e088dc208cae7fd0177ef459a4..939b0e545464ecaa9412531072ba66f41f864773 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:525c1283171e5cfecb09b2efb352c1885aa08ac091acdb269345ec8aa9ffaf05
-size 609707
+oid sha256:570e453c6d892f3bd1fe611466a3c058d663a0939563bf746563b61965d3a361
+size 620533
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4
index a86b87dd69c6861d5103ce9fb1b30d87a991a0e8..84d634b6ecc3351ac88a8914ee3112e59e6a096a 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dbba526853c7c4e9955bf515b844448fdbd506895c970282d9aa1ed72cf6484b
-size 216391
+oid sha256:70b014a4137e48936f96f29a40983a3b8cac26cd07ba23724024a98faf7481c0
+size 210605
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_mjwp_fast.mp4
index 226c33f3f885cc28a9b55cb6937807ce921d6623..e3f3a5773c39de70cf7f0df0b5b4997815cbda33 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f34651468d2466d4380fcb27604ea2517c791ff4cd3e3cf4d8a533c26ed21eb6
-size 454022
+oid sha256:1dcae65422b04e1bb64ab4bee39da2e822530cbd3d3e688c164bf80902874bcb
+size 428589
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/scene.xml b/processed/oakinkv2/sharpa/right/stir_beaker/scene.xml
index cab299d015e3e86c330fcecfd92a9808006dc635..302ca4d489881fbe552f71fc7085e07461e8e08c 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/scene.xml
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/scene.xml
@@ -54,7 +54,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0564196" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -257,9 +257,9 @@
       <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_thumb_tip" pos="-0.00549051 -0.00709704 -0.0139491" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00756683 -0.00211507 -0.0138793" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.00880209 0.0210621 0.000812859" 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>
@@ -546,27 +546,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml b/processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml
index 5c82110beb9842c629d657d65945608f55f91bd7..9499ede529fc349c6fc077376eaf4f7cc21e87f2 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/scene_eq.xml
@@ -54,7 +54,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0564196" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -257,9 +257,9 @@
       <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_thumb_tip" pos="-0.00549051 -0.00709704 -0.0139491" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00756683 -0.00211507 -0.0138793" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.00880209 0.0210621 0.000812859" 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>
@@ -554,27 +554,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/stir_beaker/task_info.json b/processed/oakinkv2/sharpa/right/stir_beaker/task_info.json
index cd92d4dae519b22731d16f9da6e8ed4bd7cdaf2c..b9fd70dacf3537ccd65f851c929623771023e990 100644
--- a/processed/oakinkv2/sharpa/right/stir_beaker/task_info.json
+++ b/processed/oakinkv2/sharpa/right/stir_beaker/task_info.json
@@ -22,10 +22,21 @@
     7867,
     8347
   ],
-  "obj_first_frame_lowest_world_z": 0.004580366042942041,
-  "scene_lowest_world_z": 0.0031443246514626932,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.0014360413914793202,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.04541963395705796,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.004580366042942055,
+  "right_obj_first_frame_xy": [
+    0.20226336718514756,
+    0.16152804864696743
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.01,
+  "right_plate_bottom_world_z": 0.0,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0033_00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
deleted file mode 100644
index 1c7bd002a291d54db39cf73fc86867de09c85fba..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:10957d9f8942d15d1523e9c34b0f8aaa3654145105ddde29540e3753e9fa6a96
-size 55142
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
deleted file mode 100644
index cea40122c89ac4d1f8fe247dcabd3c75f4b59e83..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:caa26392017fac1c38e0f37bfa0977149334248c013a00cbe5bc7c5f2fa1601c
-size 108952
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz
deleted file mode 100644
index 2d53092abc2f7bdf4ba43a2bc2c88cee872837e2..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:80d54eda7588cd20ffa71f7e910bde3312b75ca0be3f4bf7ac5a3773a3a9674f
-size 620533
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.mp4
deleted file mode 100644
index 709d4fe24817d07768da24bfb12b64c4d6ec6c57..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:87b2e98478327a1e41ac54d4c1219a6ec29183785cd66fc8c5dce65ed10e4206
-size 181235
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.viser b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.viser
deleted file mode 100644
index 0ed77799e8ccd7fcacfa948e6b7b8b78f02ac255..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_ik.viser
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:717696a811db5af3683e78ded3749d2659201ff2b7f4545a3a49f74331604a59
-size 1540857
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4
deleted file mode 100644
index e294f0983f1e8aebe0e850822345cf3c5046cb1c..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9f32b0cf228a026daa00df97a7bc81a65041d70e2221f11936dfdf2b7d104055
-size 364255
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser
deleted file mode 100644
index 912889c8e93bfb13649a48fe553948b15ae84285..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c6978b7616a09c30adae0ad691bedfddd0733485d409e03bff8c127d2d79edb8
-size 1540116
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene.xml b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene.xml
deleted file mode 100644
index d7e4120ee46984ecf6ebed4fc1e3487e1b23243d..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene.xml
+++ /dev/null
@@ -1,476 +0,0 @@
-<mujoco model="right_sharpa">
-  <compiler angle="radian" meshdir="../../../assets/"/>
-
-  <option timestep="0.01" solver="CG" iterations="6">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <default>
-    <joint armature="1"/>
-    <geom contype="0" conaffinity="0" condim="1" density="800"/>
-    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
-    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
-  </default>
-
-  <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
-    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
-    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
-    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
-    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
-    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
-    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
-    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
-    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
-    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
-    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
-    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
-    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
-    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
-    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
-    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
-    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
-    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
-    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
-    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
-    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
-    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
-    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
-    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
-    <mesh name="right_visual" file="objects/O02_0206_00001/visual.obj"/>
-    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
-    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
-    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
-    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
-    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
-    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
-    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
-    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
-    <body name="right_hand_base" pos="0 0 0.2">
-      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
-      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
-      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
-      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
-      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
-      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
-      <body name="right_hand_C_MC">
-        <inertial pos="-0.00216 0.00536 0.04011" quat="0.713832 -0.0659364 0.0757239 0.693082" mass="0.6506" diaginertia="0.000814964 0.000674257 0.00027314"/>
-        <geom name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
-        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
-        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
-        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
-        <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
-          <inertial pos="-0.00065 0.0002 0" quat="0.434754 0.557664 -0.434754 0.557664" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
-          <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_CMC_VL_visual"/>
-          <body name="right_thumb_MC" pos="0 -0.005 0" quat="0.65328 -0.653282 0.270598 0.270599">
-            <inertial pos="0.03643 -0.01024 0.00517" quat="-0.151259 0.696943 -0.154462 0.683763" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
-            <joint name="right_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
-            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
-            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_thumb_MCP_VL" pos="0.065 -0.006 0.010392" quat="0.965926 0.25882 0 0">
-              <inertial pos="-1.29e-09 -1.1e-10 0" quat="0.515163 0.484363 -0.515163 0.484363" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
-              <joint name="right_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MCP_VL_visual"/>
-              <body name="right_thumb_PP" quat="0.707105 -0.707108 0 0">
-                <inertial pos="0.021256 -0.00095 -0.00092" quat="0.44358 0.511613 0.483631 0.554609" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
-                <joint name="right_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-                <geom name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
-                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
-                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <body name="right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0">
-                  <inertial pos="0.00821817 -0.00177722 -0.000997218" quat="-0.255985 0.713848 -0.187441 0.624306" mass="0.007981" diaginertia="1.0905e-06 1.04136e-06 2.95182e-07"/>
-                  <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                  <geom name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
-                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
-                  <geom name="right_thumb_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
-                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
-                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
-                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-          <body name="right_index_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-            <geom name="right_index_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-            <geom name="collision_hand_right_index_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_index_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom name="right_index_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-              <geom name="right_index_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-              <geom name="collision_hand_right_index_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_index_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                <geom name="right_index_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="right_index_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="collision_hand_right_index_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <geom name="collision_hand_right_index_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/>
-                <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_middle_MCP_VL" pos="0 0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-          <body name="right_middle_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-            <geom name="right_middle_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-            <geom name="collision_hand_right_middle_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_middle_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-              <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-              <geom name="collision_hand_right_middle_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_middle_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                <geom name="right_middle_elastomer_visual" quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/>
-                <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_ring_MCP_VL" pos="0.0015 -0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-          <body name="right_ring_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-            <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_ring_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_ring_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                <geom name="right_ring_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
-                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_pinky_MC" pos="0.01136 -0.0263 0.0869" quat="-3.67321e-06 0 0 1">
-          <inertial pos="0.0107985 0.00598801 0.0335125" quat="0.706956 -0.000832392 -0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
-          <joint name="right_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618"/>
-          <geom name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
-          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
-          <body name="right_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 0.5 -0.5 0.500002">
-            <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-            <joint name="right_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-            <body name="right_pinky_PP" quat="0.707105 -0.707108 0 0">
-              <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-              <joint name="right_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-              <geom name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_pinky_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-                <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-                <joint name="right_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                <geom name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <body name="right_pinky_DP" pos="0.0315 0 0">
-                  <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                  <joint name="right_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                  <geom name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                  <geom name="right_pinky_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
-                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
-                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-    <body name="right_object">
-      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
-      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_thumb_tip" mocap="true">
-      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_thumb_tip" mocap="true">
-      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_index_tip" mocap="true">
-      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_index_tip" mocap="true">
-      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_middle_tip" mocap="true">
-      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_middle_tip" mocap="true">
-      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_ring_tip" mocap="true">
-      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_ring_tip" mocap="true">
-      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_pinky_tip" mocap="true">
-      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_pinky_tip" mocap="true">
-      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-  </worldbody>
-
-  <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
-    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
-    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
-    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
-    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
-    <exclude body1="right_hand_C_MC" body2="right_pinky_MC"/>
-    <exclude body1="right_thumb_MC" body2="right_thumb_MCP_VL"/>
-    <exclude body1="right_thumb_MC" body2="right_thumb_PP"/>
-    <exclude body1="right_thumb_MCP_VL" body2="right_thumb_PP"/>
-    <exclude body1="right_thumb_PP" body2="right_thumb_DP"/>
-    <exclude body1="right_index_MCP_VL" body2="right_index_PP"/>
-    <exclude body1="right_index_PP" body2="right_index_MP"/>
-    <exclude body1="right_index_MP" body2="right_index_DP"/>
-    <exclude body1="right_middle_MCP_VL" body2="right_middle_PP"/>
-    <exclude body1="right_middle_PP" body2="right_middle_MP"/>
-    <exclude body1="right_middle_MP" body2="right_middle_DP"/>
-    <exclude body1="right_ring_MCP_VL" body2="right_ring_PP"/>
-    <exclude body1="right_ring_PP" body2="right_ring_MP"/>
-    <exclude body1="right_ring_MP" body2="right_ring_DP"/>
-    <exclude body1="right_pinky_MC" body2="right_pinky_MCP_VL"/>
-    <exclude body1="right_pinky_MC" body2="right_pinky_PP"/>
-    <exclude body1="right_pinky_MCP_VL" body2="right_pinky_PP"/>
-    <exclude body1="right_pinky_PP" body2="right_pinky_MP"/>
-    <exclude body1="right_pinky_MP" body2="right_pinky_DP"/>
-  </contact>
-
-  <actuator>
-    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-  </actuator>
-</mujoco>
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene_eq.xml b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene_eq.xml
deleted file mode 100644
index 69566ac835863cd91fb34b9c431c90946a8d691b..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/scene_eq.xml
+++ /dev/null
@@ -1,484 +0,0 @@
-<mujoco model="right_sharpa">
-  <compiler angle="radian" meshdir="../../../assets/"/>
-
-  <option timestep="0.01" solver="CG" iterations="6">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <default>
-    <joint armature="1"/>
-    <geom contype="0" conaffinity="0" condim="1" density="800"/>
-    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
-    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
-  </default>
-
-  <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/>
-    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
-    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-    <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/>
-    <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/>
-    <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/>
-    <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/>
-    <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/>
-    <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/>
-    <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/>
-    <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/>
-    <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
-    <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/>
-    <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/>
-    <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/>
-    <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/>
-    <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/>
-    <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/>
-    <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/>
-    <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/>
-    <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/>
-    <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/>
-    <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/>
-    <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/>
-    <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/>
-    <mesh name="right_visual" file="objects/O02_0206_00001/visual.obj"/>
-    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
-    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
-    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
-    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
-    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
-    <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
-    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
-    <light pos="0 0 3" dir="0 0 -1" type="directional"/>
-    <body name="right_hand_base" pos="0 0 0.2">
-      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
-      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
-      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
-      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
-      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
-      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
-      <body name="right_hand_C_MC">
-        <inertial pos="-0.00216 0.00536 0.04011" quat="0.713832 -0.0659364 0.0757239 0.693082" mass="0.6506" diaginertia="0.000814964 0.000674257 0.00027314"/>
-        <geom name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/>
-        <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/>
-        <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/>
-        <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/>
-        <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
-          <inertial pos="-0.00065 0.0002 0" quat="0.434754 0.557664 -0.434754 0.557664" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
-          <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_CMC_VL_visual"/>
-          <body name="right_thumb_MC" pos="0 -0.005 0" quat="0.65328 -0.653282 0.270598 0.270599">
-            <inertial pos="0.03643 -0.01024 0.00517" quat="-0.151259 0.696943 -0.154462 0.683763" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
-            <joint name="right_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/>
-            <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/>
-            <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_thumb_MCP_VL" pos="0.065 -0.006 0.010392" quat="0.965926 0.25882 0 0">
-              <inertial pos="-1.29e-09 -1.1e-10 0" quat="0.515163 0.484363 -0.515163 0.484363" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/>
-              <joint name="right_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
-              <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MCP_VL_visual"/>
-              <body name="right_thumb_PP" quat="0.707105 -0.707108 0 0">
-                <inertial pos="0.021256 -0.00095 -0.00092" quat="0.44358 0.511613 0.483631 0.554609" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
-                <joint name="right_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-                <geom name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/>
-                <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/>
-                <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <body name="right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0">
-                  <inertial pos="0.00821817 -0.00177722 -0.000997218" quat="-0.255985 0.713848 -0.187441 0.624306" mass="0.007981" diaginertia="1.0905e-06 1.04136e-06 2.95182e-07"/>
-                  <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                  <geom name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/>
-                  <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/>
-                  <geom name="right_thumb_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
-                  <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/>
-                  <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/>
-                  <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-          <body name="right_index_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-            <geom name="right_index_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-            <geom name="collision_hand_right_index_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_index_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom name="right_index_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-              <geom name="right_index_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-              <geom name="collision_hand_right_index_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_index_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                <geom name="right_index_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="right_index_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="collision_hand_right_index_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <geom name="collision_hand_right_index_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/>
-                <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_middle_MCP_VL" pos="0 0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-          <body name="right_middle_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-            <geom name="right_middle_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-            <geom name="collision_hand_right_middle_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_middle_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-              <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-              <geom name="collision_hand_right_middle_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_middle_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                <geom name="right_middle_elastomer_visual" quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/>
-                <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_ring_MCP_VL" pos="0.0015 -0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
-          <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-          <joint name="right_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-          <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-          <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-          <body name="right_ring_PP" quat="0.707105 -0.707108 0 0">
-            <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-            <joint name="right_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-            <geom name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-            <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-            <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-            <body name="right_ring_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-              <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-              <joint name="right_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-              <geom name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-              <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-              <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_ring_DP" pos="0.0315 0 0">
-                <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                <joint name="right_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                <geom name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                <geom name="right_ring_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/>
-                <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/>
-                <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="right_pinky_MC" pos="0.01136 -0.0263 0.0869" quat="-3.67321e-06 0 0 1">
-          <inertial pos="0.0107985 0.00598801 0.0335125" quat="0.706956 -0.000832392 -0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/>
-          <joint name="right_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618"/>
-          <geom name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/>
-          <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/>
-          <body name="right_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 0.5 -0.5 0.500002">
-            <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
-            <joint name="right_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
-            <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/>
-            <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/>
-            <body name="right_pinky_PP" quat="0.707105 -0.707108 0 0">
-              <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
-              <joint name="right_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
-              <geom name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/>
-              <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/>
-              <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-              <body name="right_pinky_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0">
-                <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
-                <joint name="right_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
-                <geom name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/>
-                <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/>
-                <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                <body name="right_pinky_DP" pos="0.0315 0 0">
-                  <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/>
-                  <joint name="right_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
-                  <geom name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/>
-                  <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/>
-                  <geom name="right_pinky_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
-                  <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/>
-                  <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
-                  <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/>
-                  <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-    <body name="right_object">
-      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
-      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_thumb_tip" mocap="true">
-      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_thumb_tip" mocap="true">
-      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_index_tip" mocap="true">
-      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_index_tip" mocap="true">
-      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_middle_tip" mocap="true">
-      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_middle_tip" mocap="true">
-      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_ring_tip" mocap="true">
-      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_ring_tip" mocap="true">
-      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_object_right_pinky_tip" mocap="true">
-      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-    <body name="ref_hand_right_pinky_tip" mocap="true">
-      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
-    </body>
-  </worldbody>
-
-  <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/>
-    <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
-    <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_index_PP"/>
-    <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_middle_PP"/>
-    <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
-    <exclude body1="right_hand_C_MC" body2="right_ring_PP"/>
-    <exclude body1="right_hand_C_MC" body2="right_pinky_MC"/>
-    <exclude body1="right_thumb_MC" body2="right_thumb_MCP_VL"/>
-    <exclude body1="right_thumb_MC" body2="right_thumb_PP"/>
-    <exclude body1="right_thumb_MCP_VL" body2="right_thumb_PP"/>
-    <exclude body1="right_thumb_PP" body2="right_thumb_DP"/>
-    <exclude body1="right_index_MCP_VL" body2="right_index_PP"/>
-    <exclude body1="right_index_PP" body2="right_index_MP"/>
-    <exclude body1="right_index_MP" body2="right_index_DP"/>
-    <exclude body1="right_middle_MCP_VL" body2="right_middle_PP"/>
-    <exclude body1="right_middle_PP" body2="right_middle_MP"/>
-    <exclude body1="right_middle_MP" body2="right_middle_DP"/>
-    <exclude body1="right_ring_MCP_VL" body2="right_ring_PP"/>
-    <exclude body1="right_ring_PP" body2="right_ring_MP"/>
-    <exclude body1="right_ring_MP" body2="right_ring_DP"/>
-    <exclude body1="right_pinky_MC" body2="right_pinky_MCP_VL"/>
-    <exclude body1="right_pinky_MC" body2="right_pinky_PP"/>
-    <exclude body1="right_pinky_MCP_VL" body2="right_pinky_PP"/>
-    <exclude body1="right_pinky_PP" body2="right_pinky_MP"/>
-    <exclude body1="right_pinky_MP" body2="right_pinky_DP"/>
-  </contact>
-
-  <equality>
-    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
-  </equality>
-
-  <actuator>
-    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-  </actuator>
-</mujoco>
diff --git a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/task_info.json b/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/task_info.json
deleted file mode 100644
index 0efb71d794cdd48ca64b83ba6e31b16aba24f6b7..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/sharpa/right/uncap_alcohol_burner/task_info.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "task": "uncap_alcohol_burner",
-  "dataset_name": "oakinkv2",
-  "robot_type": "sharpa",
-  "embodiment_type": "right",
-  "data_id": 0,
-  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0206_00001",
-  "left_object_mesh_dir": null,
-  "ref_dt": 0.02,
-  "pre_grasp_seconds": 1.5,
-  "post_grasp_seconds": 2.5,
-  "n_frames": 200,
-  "oakink_seq_key": "scene_03__A007/seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
-  "oakink_seq_token": "scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
-  "oakink_obj_id": "O02@0206@00001",
-  "oakink_primitive": "uncap_alcohol_lamp",
-  "oakink_grasp_range": [
-    9187,
-    9423
-  ],
-  "oakink_window": [
-    9007,
-    9423
-  ],
-  "obj_first_frame_lowest_world_z": 0.07334136502724108,
-  "scene_lowest_world_z": -0.005303162150084927,
-  "object_descends_from_frame0": true,
-  "right_plate_top_world_z": 0.023341365027241073,
-  "floor_well_below_offset": 0.05,
-  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0206_00001/convex"
-}
\ No newline at end of file
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml b/processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml
index 53e9abf86ed6867fb24437d7a7cce8df566544c2..c454d60881828265018f13a39756dffeaaadd89f 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: sharpa
 embodiment_type: right
 task: wipe_board
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 35
 nv: 34
 nu: 28
-npair: 213
+npair: 59
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/sharpa/right/wipe_board/0
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/sanity_check_drift.mp4 b/processed/oakinkv2/sharpa/right/wipe_board/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eaf19d9b51244ba8932f766eca416b702fec85c7
--- /dev/null
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f774088111f87f233cc57cf78d3849a0b2426b43236668f3297c4e58a3c7b0d9
+size 10163
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_ikrollout.npz b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_ikrollout.npz
index 7b0487767fc0476474f1f1a944e871b6fd276a58..6ea5498e1a92ef251e8e78581211fc3a0b1c8f80 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6e1e0944cf3c1191dd5825c02ed7541e08d36add05fb548345322e722daef976
+oid sha256:545cc439a833ae5a93e507a85616c2758a8635b0f7457bd650afb4a945e2b8a7
 size 55142
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
index 99e090b61d5d1c889b54c7df2631f020409fba8d..847ec42a8d358f0ba777a68a6d8990a8f6756809 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c395c0662ad4795e6b17ccb8a4e3beb44a1cb41a9d20382fd3413d2fdad796b4
+oid sha256:916899901eeec94e36499a687edd7f8e41a20efabc083ad275b06431223bafb9
 size 108952
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_mjwp_fast.npz
index 1b1a66125c5d7b21f6d8c58b284434a814c95d8c..be7918d011f55ff1cf4f884617906c9ca9e2ec0f 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11445aff0c169d87b3f6dbdba82c19970add36fac6416e29171fb624f87dc3c8
-size 609707
+oid sha256:4b32ed544d68c40f9b844dfb090dfd88a309ef12b37f8bb86d5df4b8209245aa
+size 620533
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.mp4 b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.mp4
index 38d00aa1e00ea1613c8e20376564c3ff43b7e7aa..39038afda883613b6289b8f3fbc142235f663654 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.mp4
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:85b2c125b9678333b905edc209b388cf6f25d84b0ef6b1a5096d2fbfcbcadd13
-size 214534
+oid sha256:bd1db3846f1d000dd83c59249acbaee001414167ac87af87b8cb93d582ecf996
+size 208926
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.mp4
index 51b83aa691dccac40e9b2aed9bf4d290e6810e66..0264b9c36b6b0be7dd14232811550fce4867579e 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/sharpa/right/wipe_board/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8d64dc8ad81d243e7f08d9f7e145e7b350519f201740c0d244e1d29337df324f
-size 442732
+oid sha256:b9fae251c71340efd520b9c111ecf99f8416804d9d7886a4321967348dc5171d
+size 421053
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/scene.xml b/processed/oakinkv2/sharpa/right/wipe_board/scene.xml
index 2599a495700af64a7effb83392fe33aa77f2e70b..f877e010652bb25c745edd9e5ff5a7b3ccb1aeb3 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/scene.xml
+++ b/processed/oakinkv2/sharpa/right/wipe_board/scene.xml
@@ -54,7 +54,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0165106" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -257,11 +257,11 @@
       <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0261113 -0.00586368 -0.00734901" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.032969 0.0104408 0.00387521" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0343274 0.00216187 0.0202503" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0373701 0.00122037 0.0310045" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0325724 0.0267641 0.0617795" 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"/>
@@ -546,27 +546,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/scene_eq.xml b/processed/oakinkv2/sharpa/right/wipe_board/scene_eq.xml
index acda3baef763044162217e8b21b610136c22ef81..043678c55c4fbbe7d218eb8a48e0cd9d63675144 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/scene_eq.xml
+++ b/processed/oakinkv2/sharpa/right/wipe_board/scene_eq.xml
@@ -54,7 +54,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0165106" type="plane" material="right_groundplane"/>
+    <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/>
     <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/>
     <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
     <light pos="0 0 3" dir="0 0 -1" type="directional"/>
@@ -257,11 +257,11 @@
       <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
       <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0261113 -0.00586368 -0.00734901" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.032969 0.0104408 0.00387521" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0343274 0.00216187 0.0202503" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0373701 0.00122037 0.0310045" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0325724 0.0267641 0.0617795" 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"/>
@@ -554,27 +554,27 @@
     <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
     <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
-    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9"/>
-    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9"/>
-    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9"/>
-    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9"/>
-    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9"/>
-    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9"/>
-    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9"/>
+    <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/>
+    <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/>
   </actuator>
 </mujoco>
diff --git a/processed/oakinkv2/sharpa/right/wipe_board/task_info.json b/processed/oakinkv2/sharpa/right/wipe_board/task_info.json
index 60266598d6d3827c4b24e446979eb9f7d82b74b7..1a22430d22d1f68a9fd1409fb38f8c2be285da88 100644
--- a/processed/oakinkv2/sharpa/right/wipe_board/task_info.json
+++ b/processed/oakinkv2/sharpa/right/wipe_board/task_info.json
@@ -22,10 +22,21 @@
     687,
     1167
   ],
-  "obj_first_frame_lowest_world_z": 0.04448936191514089,
-  "scene_lowest_world_z": 0.044203837933111854,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.0002855239820290442,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.005510638084859111,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.0444893619151409,
+  "right_obj_first_frame_xy": [
+    0.3156648607724243,
+    -0.12733603169148697
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.009999999999999997,
+  "right_plate_bottom_world_z": -3.469446951953614e-18,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0055_00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/config.yaml b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/config.yaml
index cc60d96f4de43b5f294be5b05826cb5334842a5e..653f196339f89db7b820c05d2e5e746318461a61 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/config.yaml
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: xhand
 embodiment_type: right
 task: pick_spoon_bowl
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 25
 nv: 24
 nu: 18
-npair: 158
+npair: 93
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/pick_spoon_bowl/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/pick_spoon_bowl/0
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/sanity_check_drift.mp4 b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2390c2d14ac8036f22a761a22f6cf9d635b22e41
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75adb276a9af5a0fbd9fe9de4f31aa39f27e0464e33b62ba2c4f1944ac129e6d
+size 8116
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
index 6d60373b821eef4a52ec2161b7bcd965992e31bf..cffa785a0ae714934af4e96a164e6def078ad523 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d12904c66e50d92b55a47ded6fac00fc1d5cf853b5685c9f6c16bd4cd45937c5
+oid sha256:f5741b4bb1b2e4bf6299db2b3c03f1bec415200ce4d2effa817cde7b39772ce6
 size 39462
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz
index 15c09057ba56245d0e496c7c66994323c96f3d5a..67e8fc9c1ed0a4733ba08af6c2f736b52900658f 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:363ab45187dc0e0ff194256fa2343485e23de51c492769e7c5ff1108f44ec45e
+oid sha256:96092b4deb7879fcc7be71042ab05f24af47118ca6d67a57aa6d289e6dcfdc68
 size 77592
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
index a1b1b37afb7be56b5655c25c9bf35af4d9773532..15838b57813c699f4c954b8b2516a5042392f6ff 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:913b406ce880629426bfccf169909d63a471cbea21e6143e6bf7762af0e556d5
+oid sha256:ccd5c603809e35d55c552648a1158845a02ba078acf58b8df408c453e210e4de
 size 476533
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.mp4
index 670e812ad52f759789513d47ae69df9d5e6a5a25..71c9ba4bfe9c0749e4cc498a6ba0127fa8e93161 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.mp4
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:de843f2452357e6b4318c521cb76dc5ce6f25da151b782d2b0e814e350f2a0b1
-size 86650
+oid sha256:18997b30afca7f8bc01366156d66e9db8b36b5b1eca99d1dbf382637ad520306
+size 89760
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
index 2a0e860c6708ef8d9f92b3277f50d5c760b6c069..d75773dfa17ccb83cde9b0167f1fb447a29e3b3d 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a5b2afe2679e97945e8ac12378369ac1824b59b5e9cf9c99d00f04446c1cdb5e
-size 179794
+oid sha256:90558ab85ec4e697d8372ad29d9f08a22c8eff0e188ee2f9d922100a3daf9f5f
+size 182505
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene.xml b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene.xml
index 422ea16a43cf68b83b85fd1dbdd284685b3bb40c..43c521a3122473470af55bec49177aecb2a72e55 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene.xml
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene.xml
@@ -43,7 +43,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -180,9 +180,9 @@
       <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_thumb_tip" pos="-0.00446981 0.0218741 -0.0461562" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0120602 -0.000574222 -0.0379616" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0198792 -0.00757467 -0.0236972" 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>
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene_eq.xml b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene_eq.xml
index 14068be3c451fc26df1555ee7ab07473defc214b..711f3a8955e742926314a5751b1b4034e4241a73 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene_eq.xml
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/scene_eq.xml
@@ -43,7 +43,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0539449" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -180,9 +180,9 @@
       <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_thumb_tip" pos="-0.00446981 0.0218741 -0.0461562" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0120602 -0.000574222 -0.0379616" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0198792 -0.00757467 -0.0236972" 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>
diff --git a/processed/oakinkv2/xhand/right/pick_spoon_bowl/task_info.json b/processed/oakinkv2/xhand/right/pick_spoon_bowl/task_info.json
index 42b3ae60713465cc1bd1c738fcb94d0fd4f19b3c..cf2632240eaceb900356fbb6d8eb9bce7b266975 100644
--- a/processed/oakinkv2/xhand/right/pick_spoon_bowl/task_info.json
+++ b/processed/oakinkv2/xhand/right/pick_spoon_bowl/task_info.json
@@ -22,10 +22,21 @@
     931,
     1411
   ],
-  "obj_first_frame_lowest_world_z": 0.0070551150312037555,
-  "scene_lowest_world_z": 0.006876816536960102,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.00017829849424363248,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.04294488496879626,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.007055115031203735,
+  "right_obj_first_frame_xy": [
+    0.28416763729995526,
+    -0.08759002740783733
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.01,
+  "right_plate_bottom_world_z": 0.0,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0030_00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/config.yaml b/processed/oakinkv2/xhand/right/pour_tube/0/config.yaml
index f8085776145f3e0f31d9f89ea63238da377c4303..ec60217a6f054e93375337aa96887b44e49dbd39 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/0/config.yaml
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: xhand
 embodiment_type: right
 task: pour_tube
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 25
 nv: 24
 nu: 18
-npair: 132
+npair: 236
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/pour_tube/0
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/sanity_check_drift.mp4 b/processed/oakinkv2/xhand/right/pour_tube/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b4ed1e1a9eb204b4c7583b6f117e5e996d90146
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2b6012c7cfa4d71f91e850b61040882fa8f0dd1e4fd3d4926b931878c2ed7f
+size 7741
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_ikrollout.npz
index 57c5eba699f5723490e684cf78b88d8fd5f87c6b..c115d384172fd05fd3f3b0714c3687c2243e258c 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3db6be6f9b043be69742ac241cfa58a8ac753a57fbd3d11bada3536a8b348a5e
+oid sha256:6d3f646ea52cfaefa637726655e7c99510eec524805a22af8d9b2cb7a43ead89
 size 39462
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
index 759768639344bd67516fbbd63f802515b1775536..29354d805c1829c83a92028a8c4bfba71cfe5e40 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f62e14d49b474ebaca84fa6a2162f296a61957808148224512c2743212815692
+oid sha256:134c28fcb68413a5f0656ea50094b030c86a328869c6841bc654f8f663ed274c
 size 77592
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_mjwp_fast.npz
index 439119a6736898d6375ffcd6f50c29d3c72b8f20..45994b4f150b4908acda94b9842806a4204d3634 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9a8bc3dc09138718c70ac52481d48b17e5746c2f90d7a62bfe5a0e5ca885f238
+oid sha256:00fc64c7c31580d0ca189c9d55499d121ad1ad323b1e607d47968f97f1a19d7b
 size 476533
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.mp4
index f920c20618df1dc96d0df86f3f2654210dc4d48f..d001ab2ab97edc77590aee236530e7674d32953d 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.mp4
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:437ca93d3db7f840ac5fdc826d1403aa09e3118453a8645218a58857ef631e4e
-size 110019
+oid sha256:d2b23103ae5e9f4777a59df1d152c7360fadfd0218aa69bde77c2c8733aa4531
+size 107303
diff --git a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.mp4
index 27e44777cd9864f8187cf5904916d2b93bcceb1f..bbafa37e254070711366401110a605afcc5ac497 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/xhand/right/pour_tube/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4fbcc8f8976091388ddb2d2230aaea3827ce1eb42205f4000b34599c4f83b2fe
-size 226157
+oid sha256:beffa3e9c8f424aad4634a5c22ef4df721cd7207d385cfbdd3b89e859dafdcc4
+size 219379
diff --git a/processed/oakinkv2/xhand/right/pour_tube/scene.xml b/processed/oakinkv2/xhand/right/pour_tube/scene.xml
index af7fcf40de6b784af1927f25bd986a624c0fd315..269ab0c41848b2604a095969aa589da60ff2dfb9 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/scene.xml
+++ b/processed/oakinkv2/xhand/right/pour_tube/scene.xml
@@ -41,7 +41,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.113939" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -176,10 +176,10 @@
       <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 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00987971 -0.0445796 -0.0199928" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00304407 0.0373192 0.0111886" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0128947 0.0383061 -0.0146752" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0115219 0.0512124 -0.0220891" 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">
diff --git a/processed/oakinkv2/xhand/right/pour_tube/scene_eq.xml b/processed/oakinkv2/xhand/right/pour_tube/scene_eq.xml
index d549a461299f619e83347acac46c8e091d7e2f4b..231a879af6cee2f16fa097a1c245a41ecf7a6ee4 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/scene_eq.xml
+++ b/processed/oakinkv2/xhand/right/pour_tube/scene_eq.xml
@@ -41,7 +41,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.113939" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -176,10 +176,10 @@
       <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 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
-      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00987971 -0.0445796 -0.0199928" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.00304407 0.0373192 0.0111886" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0128947 0.0383061 -0.0146752" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0115219 0.0512124 -0.0220891" 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">
diff --git a/processed/oakinkv2/xhand/right/pour_tube/task_info.json b/processed/oakinkv2/xhand/right/pour_tube/task_info.json
index be329ca4e929c3b40380da0812e0a899c42571dd..6a4a21bfc8e2dd1c60b068ec95149404d0ca2a9b 100644
--- a/processed/oakinkv2/xhand/right/pour_tube/task_info.json
+++ b/processed/oakinkv2/xhand/right/pour_tube/task_info.json
@@ -22,10 +22,21 @@
     1011,
     1491
   ],
-  "obj_first_frame_lowest_world_z": 0.17493900291149875,
-  "scene_lowest_world_z": 0.17455401396831044,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.000384988943188308,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": 0.12493900291149874,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.17493900291149875,
+  "right_obj_first_frame_xy": [
+    0.507747265285669,
+    -0.03249077152461064
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.010000000000000007,
+  "right_plate_bottom_world_z": 6.938893903907228e-18,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0011_00003/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/config.yaml b/processed/oakinkv2/xhand/right/stir_beaker/0/config.yaml
index a6f77b1b7262e06d227442f8dcdfc48b31c41a25..b59715a3a593f8863b7001514524d17901916da8 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/0/config.yaml
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: xhand
 embodiment_type: right
 task: stir_beaker
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 25
 nv: 24
 nu: 18
-npair: 132
+npair: 41
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/stir_beaker/0
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/sanity_check_drift.mp4 b/processed/oakinkv2/xhand/right/stir_beaker/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07391999a4a6a74ddc0449f98520d328b230a286
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b73d95bd42ec9a946a59f39af3b8d8eb61565b2893785806caaf828fd30e846b
+size 8053
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_ikrollout.npz
index 5dc720eaa708e9e9e323c9f9b84d9d0250e640fd..215582848444ecf48463ec25610f1bd48af4a960 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d7b740e3febad9258afe1e17101b6f2fed219262db66bd5133d50a64b990be5e
+oid sha256:72ba105ab13a43b694c69ad1cb89dd22f52b9d0211ccde8a26b67c7de30ca154
 size 39462
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
index 768f62d42e18bbae3ed0150f3d8b0f39b5f75391..e8132cf1118dc21dddb6e01d29acbb850db94136 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae879cb8c078760de926ed7d239b7c595e87ef47c2f9b08acdb28e5035fc18cf
+oid sha256:ff50d708dd835f140899d7b489b3754769060b394e870558ca1fb22abaa48fa5
 size 77592
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_mjwp_fast.npz
index fc25a58d14b20050c41e4fb34161d6c785448270..a973e06b01ee88aa08ea3e95941d127634a19a12 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:91558db9452a53eefa4dd0dd2929d817a05f39372b4dc534c36b575d059a121c
-size 465707
+oid sha256:a63903ae757bdd2b84287e93fce7ef19063104058fe88807e0f03c3cfb444701
+size 476533
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_ik.mp4
index e900563e7f11cfc0416efb553db19770a0b87859..cdc46a95e658e7301525478f39b36bfaf33fdd98 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_ik.mp4
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:830fbfad0e6bc6c82e28199de8b9823dbd458980e47ab974eec33179f9e1248a
-size 111042
+oid sha256:f48577688f19fb4986e0803c054f4671822f504dcbfa4324f981311bd60f5bcd
+size 109885
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_mjwp_fast.mp4
index fe94a6b28947a612467d7ce095417bd2ed45722a..bbe59652e174a3a24f8198f4e285f116a51165cd 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/xhand/right/stir_beaker/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:93bcefbe3c4beafdac9eaa560745f831bb55482d4cf398407b67c95dd1c91b21
-size 237183
+oid sha256:954d273149771a8afff23171b10e1b1944da1891053098d551e905d9f29d66f8
+size 221218
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/scene.xml b/processed/oakinkv2/xhand/right/stir_beaker/scene.xml
index 9fd9a76f74ce2cc001780b813f323456ebbd3dca..aa12eb35c09fa29cde5bcc98f6e3417423d48232 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/scene.xml
+++ b/processed/oakinkv2/xhand/right/stir_beaker/scene.xml
@@ -41,7 +41,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0564196" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -176,9 +176,9 @@
       <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_thumb_tip" pos="-0.00549051 -0.00709704 -0.0139491" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00756683 -0.00211507 -0.0138793" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.00880209 0.0210621 0.000812859" 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>
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/scene_eq.xml b/processed/oakinkv2/xhand/right/stir_beaker/scene_eq.xml
index 72aa10c60b1f55ea004261f47ae7ffaf937e3812..1acb3c01ad4ba19042c32f084c4cd02370616f4c 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/scene_eq.xml
+++ b/processed/oakinkv2/xhand/right/stir_beaker/scene_eq.xml
@@ -41,7 +41,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0564196" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -176,9 +176,9 @@
       <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_thumb_tip" pos="-0.00549051 -0.00709704 -0.0139491" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00756683 -0.00211507 -0.0138793" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.00880209 0.0210621 0.000812859" 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>
diff --git a/processed/oakinkv2/xhand/right/stir_beaker/task_info.json b/processed/oakinkv2/xhand/right/stir_beaker/task_info.json
index 3796e1f5fa1574c9201f863c6e8f6f546869e065..73f07723cbc62526798d8e919861d1fd687c9dc4 100644
--- a/processed/oakinkv2/xhand/right/stir_beaker/task_info.json
+++ b/processed/oakinkv2/xhand/right/stir_beaker/task_info.json
@@ -22,10 +22,21 @@
     7867,
     8347
   ],
-  "obj_first_frame_lowest_world_z": 0.004580366042942041,
-  "scene_lowest_world_z": 0.0031443246514626932,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.0014360413914793202,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.04541963395705796,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.004580366042942055,
+  "right_obj_first_frame_xy": [
+    0.20226336718514756,
+    0.16152804864696743
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.01,
+  "right_plate_bottom_world_z": 0.0,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0033_00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
deleted file mode 100644
index 81ae8bd07b758f526b385767ae13a2c62ae4ab36..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_ikrollout.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:86cb1913be3d186571f711d8913a530425592930c0f3befb816e2aac3883ecfc
-size 39462
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
deleted file mode 100644
index 4dc25d3d366cdf8272c9aa9d0a6301edb46bea34..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_kinematic.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:29c3843855c217b3c1653f0bc44ebb70823657208fd14b31c8229de1cd119655
-size 77592
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz
deleted file mode 100644
index cbc7206c1a08ce5efc4ce93402058b7c0b62fcc7..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/trajectory_mjwp_fast.npz
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3d4b913a0d0e8476c1fc3a0276cb920eb7a4b8b89e8b04720ad130e81664c2c8
-size 476533
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.mp4
deleted file mode 100644
index fa3f55869d83ef035b2866d82090382bd58f2d9d..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d23afa6258d1ba3e210f39acee263a5d9d21af9ba3e896e7b5f632e171f667e1
-size 97900
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.viser b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.viser
deleted file mode 100644
index 983310d1e4e2a32f9ed960cc68fbb6cfda41b20e..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_ik.viser
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3c03007f00ddda643c82220c874df1a2799731a02e6fac4488095970b3c1cc39
-size 656994
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4
deleted file mode 100644
index 2c3f189de0b771d6c37aadd57dd913e278f059cb..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3b9dba6530db186b98a692030c26cc3e26864abffc585433e0f43ff1dc85d3b7
-size 204942
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser
deleted file mode 100644
index 991f24265c9f52c2e8d111b25070ab002d46644e..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/0/visualization_mjwp_fast.viser
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6ad3f2e30fbc97dc767e9157178e186b173ce5e0ecd2bb309a880fb22d2ebe31
-size 656263
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene.xml b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene.xml
deleted file mode 100644
index 63787b797a1f3c2996113c4e9e59b479f2f382d5..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene.xml
+++ /dev/null
@@ -1,312 +0,0 @@
-<mujoco model="xhand_right">
-  <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" 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"/>
-    <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="right_visual" file="objects/O02_0206_00001/visual.obj"/>
-    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
-    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
-    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
-    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
-    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
-    <camera name="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="right_object">
-      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
-      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_right_object" pos="0 0 0" 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>
-  </worldbody>
-
-  <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_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_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_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="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_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_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="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_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_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="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_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_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="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_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_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"/>
-  </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"/>
-  </actuator>
-</mujoco>
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene_eq.xml b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene_eq.xml
deleted file mode 100644
index 6553f4e1a0c3816bde1379bd940dce5a1b97a5d8..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/scene_eq.xml
+++ /dev/null
@@ -1,325 +0,0 @@
-<mujoco model="xhand_right">
-  <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" 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"/>
-    <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="right_visual" file="objects/O02_0206_00001/visual.obj"/>
-    <mesh name="right_0" file="objects/O02_0206_00001/convex/0.obj"/>
-    <mesh name="right_1" file="objects/O02_0206_00001/convex/1.obj"/>
-    <mesh name="right_2" file="objects/O02_0206_00001/convex/2.obj"/>
-    <mesh name="right_3" file="objects/O02_0206_00001/convex/3.obj"/>
-    <mesh name="right_4" file="objects/O02_0206_00001/convex/4.obj"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 0.0123414" type="plane" material="right_groundplane"/>
-    <camera name="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="right_object">
-      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
-      <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
-      <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
-      <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
-      <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
-      <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
-      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
-      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
-      <site name="trace_right_object" pos="0 0 0" 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>
-  </worldbody>
-
-  <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_thumb_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_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_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="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_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_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="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_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_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
-    <pair geom1="collision_hand_right_middle_0" geom2="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_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_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="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_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_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"/>
-  </contact>
-
-  <equality>
-    <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
-    <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
-    <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
-    <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
-    <connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
-    <connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
-  </equality>
-
-  <actuator>
-    <general name="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"/>
-  </actuator>
-</mujoco>
diff --git a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/task_info.json b/processed/oakinkv2/xhand/right/uncap_alcohol_burner/task_info.json
deleted file mode 100644
index 95798f4e6c63931f568440ace1aa0449c31a54a0..0000000000000000000000000000000000000000
--- a/processed/oakinkv2/xhand/right/uncap_alcohol_burner/task_info.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  "task": "uncap_alcohol_burner",
-  "dataset_name": "oakinkv2",
-  "robot_type": "xhand",
-  "embodiment_type": "right",
-  "data_id": 0,
-  "right_object_mesh_dir": "processed/oakinkv2/assets/objects/O02_0206_00001",
-  "left_object_mesh_dir": null,
-  "ref_dt": 0.02,
-  "pre_grasp_seconds": 1.5,
-  "post_grasp_seconds": 2.5,
-  "n_frames": 200,
-  "oakink_seq_key": "scene_03__A007/seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
-  "oakink_seq_token": "scene_03__A007++seq__2bae9f0f317c19cd1b5d__2023-05-15-20-32-31",
-  "oakink_obj_id": "O02@0206@00001",
-  "oakink_primitive": "uncap_alcohol_lamp",
-  "oakink_grasp_range": [
-    9187,
-    9423
-  ],
-  "oakink_window": [
-    9007,
-    9423
-  ],
-  "obj_first_frame_lowest_world_z": 0.07334136502724108,
-  "scene_lowest_world_z": -0.005303162150084927,
-  "object_descends_from_frame0": true,
-  "right_plate_top_world_z": 0.023341365027241073,
-  "floor_well_below_offset": 0.05,
-  "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0206_00001/convex"
-}
\ No newline at end of file
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/config.yaml b/processed/oakinkv2/xhand/right/wipe_board/0/config.yaml
index 5fc2e0c62262f26cb6ce3a8dfdf136a8db2b4f59..33f0f2aec7741628bc69c9d7d4cc0e496da1b075 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/0/config.yaml
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/config.yaml
@@ -2,11 +2,14 @@ robot_type: xhand
 embodiment_type: right
 task: wipe_board
 seed: 0
+sanity_check_seconds: 3.0
+sanity_check_pos_thresh: 0.01
+sanity_check_rot_thresh: 0.3
 dataset_dir: example_datasets
 dataset_name: oakinkv2
 data_id: 0
-model_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0/../scene.xml
-data_path: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
+model_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0/../scene.xml
+data_path: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
 load_config_path: ''
 simulator: mjwp
 device: cuda:0
@@ -60,8 +63,8 @@ improvement_threshold: -1.0
 improvement_check_steps: 2
 terminate_resample: false
 object_pos_threshold: 0.1
-object_rot_threshold: 0.5
-max_revert_forward_attempts: 1
+object_rot_threshold: 1.0
+max_local_retries: 3
 max_revert_depth: 3
 base_pos_threshold: 0.5
 base_rot_threshold: 0.4
@@ -83,14 +86,14 @@ rot_rew_scale: 0.3
 vel_rew_scale: 0.0001
 terminal_rew_scale: 1.0
 contact_rew_scale: 0.0
-show_viewer: true
-viewer: viser
+show_viewer: false
+viewer: mjcpu
 wait_on_finish: false
 rerun_spawn: true
 save_video: true
 save_info: true
 save_rerun: false
-save_viser: true
+save_viser: false
 save_metrics: true
 save_config: true
 trace_dt: 0.02
@@ -118,6 +121,6 @@ nq_obj: 7
 nq: 25
 nv: 24
 nu: 18
-npair: 132
+npair: 41
 beta_traj: 0.31622776601683794
-output_dir: /home/ubuntu/spider/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0
+output_dir: /home/ubuntu/spider-test/example_datasets/processed/oakinkv2/xhand/right/wipe_board/0
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/sanity_check_drift.mp4 b/processed/oakinkv2/xhand/right/wipe_board/0/sanity_check_drift.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..517e00ad582b0b4887e215be8b2b249d8c0c94f2
--- /dev/null
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/sanity_check_drift.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974d75af8113794849f1dbbe71b76c22e1c9d71550b90258e0106cd43c3b4ad7
+size 8132
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_ikrollout.npz b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_ikrollout.npz
index 3fbba7846641d26584587240741fdc3d6da33298..e0935ba432f22f39e9f9fa128530b1f55c6c548d 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_ikrollout.npz
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_ikrollout.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6d87c25726fa3a9cc582d36ba3f629f28e7202019a468d36c6007667c21bb1f4
+oid sha256:c60d6bb55f9091e57a0f9c4d37fcef62c00fa87b18e5287bca97a6b79f575976
 size 39462
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
index 9e4995663a325af5887aeae8a173dfad34cd60b6..824a5656662c422b530529120e0215b1786b5ba4 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f5bbbb92c5fbe9029d4f1802369dedc72c31750ce70dfbe8ddb2c33a895c0b1f
+oid sha256:2dafa00cb292a2f27a6eea5280b6ba203153fcafcbfcf39740e6d6dfda7d013b
 size 77592
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_mjwp_fast.npz b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_mjwp_fast.npz
index 313a5933777301f92a19359dc3b861c40442d25b..4b79f55e5acd55d6de1ca2c6a33a73c52e3be332 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_mjwp_fast.npz
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/trajectory_mjwp_fast.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:66fd63eb8e65a85598312683d1f2a58f310a56cafa6db150b9744fdc04de83d8
+oid sha256:24330f521da9d5ec88775c5690bd1a87d3d5d77b1d537011d4c4a9c2ed6f5979
 size 476533
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.mp4 b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.mp4
index d8226df894aeac4efd2cea32480fb2a01b8fd60e..df5f306c168d7c703b15e3f759e35a04c48eec4b 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.mp4
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_ik.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:372778b04871ed5362150705508c699516ad01611cf7a26992e5b31252729ed0
-size 112215
+oid sha256:804a0c10260de58ea170386afe42b206e72310284830ace551438cd42d30ee7d
+size 114239
diff --git a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.mp4 b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.mp4
index 5cbaaba44d70deb09f99f3fe83822ff0821ae4c7..78882a19cc6665cc660208d51b5fd736ca608a1b 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.mp4
+++ b/processed/oakinkv2/xhand/right/wipe_board/0/visualization_mjwp_fast.mp4
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a4b5e4f6ea3dea73a4ac425f2ae2c5283600af9ede90415f61d779646ee148e8
-size 227449
+oid sha256:31fc5ca8e2af8cf7b7d7da2f105b5b4fc32d29a33128535476a3d6a73e9aee11
+size 225563
diff --git a/processed/oakinkv2/xhand/right/wipe_board/scene.xml b/processed/oakinkv2/xhand/right/wipe_board/scene.xml
index 32c8fa0df31312d1252a808e09973f29470ec3e4..155b9e1035f12a275ca6d193ce3622daae3c2962 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/scene.xml
+++ b/processed/oakinkv2/xhand/right/wipe_board/scene.xml
@@ -41,7 +41,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0165106" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -176,11 +176,11 @@
       <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"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0261113 -0.00586368 -0.00734901" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.032969 0.0104408 0.00387521" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0343274 0.00216187 0.0202503" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0373701 0.00122037 0.0310045" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0325724 0.0267641 0.0617795" 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"/>
diff --git a/processed/oakinkv2/xhand/right/wipe_board/scene_eq.xml b/processed/oakinkv2/xhand/right/wipe_board/scene_eq.xml
index 04e9ee3dfe835ce4cad1b099f5df26622bd5289e..41495bc0aaef823874855382fcc41bd220929b38 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/scene_eq.xml
+++ b/processed/oakinkv2/xhand/right/wipe_board/scene_eq.xml
@@ -41,7 +41,7 @@
   </asset>
 
   <worldbody>
-    <geom name="floor" size="0 0 0.05" pos="0 0 -0.0165106" type="plane" material="right_groundplane"/>
+    <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"/>
@@ -176,11 +176,11 @@
       <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"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0261113 -0.00586368 -0.00734901" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.032969 0.0104408 0.00387521" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0343274 0.00216187 0.0202503" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0373701 0.00122037 0.0310045" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0325724 0.0267641 0.0617795" 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"/>
diff --git a/processed/oakinkv2/xhand/right/wipe_board/task_info.json b/processed/oakinkv2/xhand/right/wipe_board/task_info.json
index 4184d691c528fc91a5799fea6d524061e4246fc0..11764c21357bef76ec27c80480c77e4e9dac1d24 100644
--- a/processed/oakinkv2/xhand/right/wipe_board/task_info.json
+++ b/processed/oakinkv2/xhand/right/wipe_board/task_info.json
@@ -22,10 +22,21 @@
     687,
     1167
   ],
-  "obj_first_frame_lowest_world_z": 0.04448936191514089,
-  "scene_lowest_world_z": 0.044203837933111854,
+  "obj_first_frame_lowest_world_z": 0.0,
+  "scene_lowest_world_z": -0.0002855239820290442,
   "object_descends_from_frame0": false,
-  "right_plate_top_world_z": -0.005510638084859111,
-  "floor_well_below_offset": 0.05,
+  "trajectory_z_offset": 0.0444893619151409,
+  "right_obj_first_frame_xy": [
+    0.3156648607724243,
+    -0.12733603169148697
+  ],
+  "left_obj_first_frame_xy": [
+    0.0,
+    0.0
+  ],
+  "right_plate_top_world_z": 0.009999999999999997,
+  "right_plate_bottom_world_z": -3.469446951953614e-18,
+  "plate_size": 0.03,
+  "plate_thickness": 0.01,
   "right_object_convex_dir": "processed/oakinkv2/assets/objects/O02_0055_00002/convex"
 }
\ No newline at end of file