:tada: finalize oakink example datasets

processed/fair_mon/assets/objects/cat/convex/0.obj

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/1.obj

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/2.obj

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/3.obj

@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/4.obj

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processed/fair_mon/assets/objects/cat/convex/5.obj

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 # https://github.com/mikedh/trimesh
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processed/fair_mon/assets/objects/cat/convex/6.obj

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processed/fair_mon/assets/objects/cat/convex/7.obj

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processed/fair_mon/inspire/right/coke/0/trajectory_mjwp.npz

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processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz

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processed/fair_mon/metahand/right/cat/0/trajectory_ikrollout.npz

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processed/fair_mon/metahand/right/cat/scene.xml

@@ -163,27 +163,25 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
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-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
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-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
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-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
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               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
                 <site name="right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
@@ -195,22 +193,20 @@
       <body name="right_mf_base" pos="0 0 0.0007">
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         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
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           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
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-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
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-                <geom name="right_middle_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
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                 <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
@@ -222,22 +218,20 @@
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
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-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
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-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
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               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
                 <site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
@@ -249,22 +243,20 @@
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
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         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
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           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
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             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
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-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
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-                <geom name="right_thumb_collision" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
                 <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
                 <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
                 <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
@@ -319,128 +311,128 @@
   </worldbody>
 
   <contact>
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-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_1" name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_2" name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_3" name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_4" name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_5" name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_6" name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_7" name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_0" name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_1" name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_2" name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_3" name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_4" name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_5" name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_6" name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_7" name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_0" name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_1" name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_2" name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_3" name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_4" name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_5" name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_6" name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_7" name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_0" name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_1" name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_2" name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_3" name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_4" name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_5" name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_6" name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_7" name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_0" name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_1" name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_2" name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_3" name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_4" name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_5" name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_6" name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_7" name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_0" name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_1" name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_2" name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_3" name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_4" name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_5" name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_6" name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_7" name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_0" name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_1" name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_2" name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_3" name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_4" name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_5" name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_6" name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_collision" geom2="right_object_7" name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="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_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="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"/>
   </contact>
 
   <actuator>

processed/fair_mon/metahand/right/cat/scene_eq.xml

@@ -163,27 +163,25 @@
       <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
       <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
       <geom class="right_palm_visual" mesh="right_base_link"/>
-      <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
       <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
       <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
         <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_ff_proximal" pos="0 0 0.0164">
           <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_ff_medial" pos="0 0 0.054">
             <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_ff_distal" pos="0 0 0.0384">
               <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_ff_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
-                <geom name="right_index_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
                 <site name="right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
@@ -195,22 +193,20 @@
       <body name="right_mf_base" pos="0 0 0.0007">
         <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_mf_proximal" pos="0 0 0.0164">
           <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_mf_medial" pos="0 0 0.054">
             <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_mf_distal" pos="0 0 0.0384">
               <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_mf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
-                <geom name="right_middle_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
                 <site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
@@ -222,22 +218,20 @@
       <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
         <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
         <geom class="right_base_visual" mesh="right_link_0.0"/>
-        <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
         <body name="right_rf_proximal" pos="0 0 0.0164">
           <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
           <geom class="right_proximal_visual" mesh="right_link_1.0"/>
-          <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
           <body name="right_rf_medial" pos="0 0 0.054">
             <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_medial_visual" mesh="right_link_2.0"/>
-            <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
             <body name="right_rf_distal" pos="0 0 0.0384">
               <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_distal_visual" mesh="right_link_3.0"/>
-              <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
               <body name="right_rf_tip">
                 <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
-                <geom name="right_ring_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
                 <site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
                 <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
@@ -249,22 +243,20 @@
       <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
         <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
         <geom class="right_visual" mesh="right_link_12.0_right"/>
-        <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
         <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
           <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
           <geom class="right_visual" mesh="right_link_13.0"/>
-          <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
           <body name="right_th_medial" pos="0 0 0.0177">
             <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
             <geom class="right_visual" mesh="right_link_14.0"/>
-            <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
             <body name="right_th_distal" pos="0 0 0.0514">
               <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
               <geom class="right_visual" mesh="right_link_15.0"/>
-              <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
               <body name="right_th_tip">
                 <geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip"/>
-                <geom name="right_thumb_collision" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
                 <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
                 <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
                 <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
@@ -319,128 +311,128 @@
   </worldbody>
 
   <contact>
-    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_1" name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_2" name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_3" name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_4" name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_5" name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_6" name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_proximal_collision" geom2="right_object_7" name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_0" name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_1" name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_2" name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_3" name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_4" name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_5" name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_6" name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_intermediate_collision" geom2="right_object_7" name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_0" name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_1" name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_2" name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_3" name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_4" name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_5" name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_6" name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_ring_collision" geom2="right_object_7" name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_0" name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_1" name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_2" name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_3" name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_4" name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_5" name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_6" name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_proximal_collision" geom2="right_object_7" name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_0" name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_1" name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_2" name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_3" name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_4" name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_5" name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_6" name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_intermediate_collision" geom2="right_object_7" name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_0" name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_1" name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_2" name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_3" name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_4" name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_5" name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
-    <pair geom1="right_thumb_distal_collision" geom2="right_object_6" name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
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   </contact>
 
   <equality>

processed/fair_mon/metahand/right/coke/0/trajectory_mjwp.npz

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