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new file mode 100644
index 0000000000000000000000000000000000000000..8b9c1a86b5449baeb458ddbf2301638f522115bf
--- /dev/null
+++ b/fair_mon/xhand_right_coke_0.npz
@@ -0,0 +1,3 @@
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+size 47598
diff --git a/processed/fair_fre/allegro/bimanual/pour/task_info.json b/processed/fair_fre/allegro/bimanual/pour/task_info.json
index 0dc0345476620c1ec65023fbb1a71d5a211a3605..9bb5b2b5b19dfae05bb76de0a96333eae1331a60 100644
--- a/processed/fair_fre/allegro/bimanual/pour/task_info.json
+++ b/processed/fair_fre/allegro/bimanual/pour/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex",
   "left_object_mesh_dir": null,
   "left_object_convex_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/allegro/right/rotatebulb/task_info.json b/processed/fair_fre/allegro/right/rotatebulb/task_info.json
index b435f108d89d067ee44885a711efe104cc6e14be..b16934c18903fe742483a88b1164c1615c20a489 100644
--- a/processed/fair_fre/allegro/right/rotatebulb/task_info.json
+++ b/processed/fair_fre/allegro/right/rotatebulb/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "allegro",
   "hand_type": "right",
   "data_id": 1,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb/convex",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/bulb/convex",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/bimanual/pickbowl/task_info.json b/processed/fair_fre/mano/bimanual/pickbowl/task_info.json
index 4236f1bfc76f41185cad6007ff73e406482fe3c3..8bb008fafab66973f13cccb9da6453a3fae8ce45 100644
--- a/processed/fair_fre/mano/bimanual/pickbowl/task_info.json
+++ b/processed/fair_fre/mano/bimanual/pickbowl/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 3,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bowl",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/bowl",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/bimanual/pour/task_info.json b/processed/fair_fre/mano/bimanual/pour/task_info.json
index 8a55e039b958dd3ed7793b3b4a8764ad2a706aa5..c6dbbef7538374fff48246ab88684e23a17e743e 100644
--- a/processed/fair_fre/mano/bimanual/pour/task_info.json
+++ b/processed/fair_fre/mano/bimanual/pour/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex",
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   "left_object_convex_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/0/task_info.json b/processed/fair_fre/mano/right/pickcup/0/task_info.json
index 8e082e72e55af5f72303719e20907c67d0c349f0..bc3cf8cfaf6ab5d2cfee794b4b7c7495e2407298 100644
--- a/processed/fair_fre/mano/right/pickcup/0/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/0/task_info.json
@@ -4,7 +4,7 @@
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   "hand_type": "right",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex"
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex"
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/1/task_info.json b/processed/fair_fre/mano/right/pickcup/1/task_info.json
index 112aa4031c8feda101d1b30f31b525f4100e5532..f2868146820f2c408281aee9726d29f9dec12df3 100644
--- a/processed/fair_fre/mano/right/pickcup/1/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/1/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 1,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/2/task_info.json b/processed/fair_fre/mano/right/pickcup/2/task_info.json
index 06709ceb62bf92e2aa02937118fc29dd32d3edd3..ae227e095eadc2af5ff99d9b9148f680a44a25a5 100644
--- a/processed/fair_fre/mano/right/pickcup/2/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/2/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 2,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/3/task_info.json b/processed/fair_fre/mano/right/pickcup/3/task_info.json
index 169ef92cacc8536df255822cd5be30c9b5d9aef2..50dce84e6aedec53c45f89687636790a325693cf 100644
--- a/processed/fair_fre/mano/right/pickcup/3/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/3/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 3,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/4/task_info.json b/processed/fair_fre/mano/right/pickcup/4/task_info.json
index 7db497af6a4e636ca3a2433e082062873d30ffb8..c1d5c422b58981434bc35951f5d2dd27f6124522 100644
--- a/processed/fair_fre/mano/right/pickcup/4/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/4/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 4,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/5/task_info.json b/processed/fair_fre/mano/right/pickcup/5/task_info.json
index 7388510d7b69abf02bb2ecc632d3ea2482d35bd1..c128fc348657597bdd8d7d08e98d730497c959e5 100644
--- a/processed/fair_fre/mano/right/pickcup/5/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/5/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 5,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/6/task_info.json b/processed/fair_fre/mano/right/pickcup/6/task_info.json
index 873e3570d6023dbb79079ab51151c4c7c9ede67c..4e75c9980c99f5b8d0b157ab284006849eb39008 100644
--- a/processed/fair_fre/mano/right/pickcup/6/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/6/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 6,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/7/task_info.json b/processed/fair_fre/mano/right/pickcup/7/task_info.json
index eff5a09ab773bf625f4985ccdbc667c7ec918c3a..5e71cd70d00ce3ce0752b7495286490be532a6d4 100644
--- a/processed/fair_fre/mano/right/pickcup/7/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/7/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 7,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/8/task_info.json b/processed/fair_fre/mano/right/pickcup/8/task_info.json
index 3270e642d6bdfb1666a28bbff97e085ac7f16b65..d52c757c111ee99998028440f594e7fa6409884d 100644
--- a/processed/fair_fre/mano/right/pickcup/8/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/8/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 8,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/pickcup/task_info.json b/processed/fair_fre/mano/right/pickcup/task_info.json
index 16a073cfeed386c3bf92fd5884e124f9b21d985f..f5bf02293a68c4ad0e85e22c97b145f11e632e0b 100644
--- a/processed/fair_fre/mano/right/pickcup/task_info.json
+++ b/processed/fair_fre/mano/right/pickcup/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 8,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex"
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex"
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/rotate_bulb/task_info.json b/processed/fair_fre/mano/right/rotate_bulb/task_info.json
index d521c9cd9dd3dd6b0d196af6ea5d0005b36a5c19..a871c0c01a1b5dbea6afa62430f0e2b99015156a 100644
--- a/processed/fair_fre/mano/right/rotate_bulb/task_info.json
+++ b/processed/fair_fre/mano/right/rotate_bulb/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/rotatebulb/task_info.json b/processed/fair_fre/mano/right/rotatebulb/task_info.json
index 494547a0e340a8dbe0491620bf7d3b054139f1e0..7b3f45d39e361183aa5debb9da21c42e171474c6 100644
--- a/processed/fair_fre/mano/right/rotatebulb/task_info.json
+++ b/processed/fair_fre/mano/right/rotatebulb/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 1,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb/convex",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/bulb/convex",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/mano/right/scoopspoon/task_info.json b/processed/fair_fre/mano/right/scoopspoon/task_info.json
index 14133125e135e21f46f207b3bff0cd4132e2ec37..03692045f0f9a3ca93cc48d604a2fa585b03be78 100644
--- a/processed/fair_fre/mano/right/scoopspoon/task_info.json
+++ b/processed/fair_fre/mano/right/scoopspoon/task_info.json
@@ -4,6 +4,6 @@
   "robot_type": "mano",
   "hand_type": "right",
   "data_id": 2,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/spoon",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/metahand/bimanual/pour/task_info.json b/processed/fair_fre/metahand/bimanual/pour/task_info.json
index cb145d306ed0a39b56859e3575ab3c09707f2b13..82b8194ea3c5ead13f9ead6cc320a41a02ff5608 100644
--- a/processed/fair_fre/metahand/bimanual/pour/task_info.json
+++ b/processed/fair_fre/metahand/bimanual/pour/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "metahand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex",
   "left_object_mesh_dir": null,
   "left_object_convex_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/metahand/right/pickcup/task_info.json b/processed/fair_fre/metahand/right/pickcup/task_info.json
index 831bee57bb3546e69936c87622dd382d49233f2c..01531255476c334641d1c0615b0344f99e49981d 100644
--- a/processed/fair_fre/metahand/right/pickcup/task_info.json
+++ b/processed/fair_fre/metahand/right/pickcup/task_info.json
@@ -4,7 +4,7 @@
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   "hand_type": "right",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex"
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex"
 }
\ No newline at end of file
diff --git a/processed/fair_fre/metahand/right/rotatebulb/task_info.json b/processed/fair_fre/metahand/right/rotatebulb/task_info.json
index d2184387d6a70c7f888b85bd98e121f586e353c0..5e8ff7bd7b787cede55215a6811fc1b89f8b3ebd 100644
--- a/processed/fair_fre/metahand/right/rotatebulb/task_info.json
+++ b/processed/fair_fre/metahand/right/rotatebulb/task_info.json
@@ -4,7 +4,7 @@
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   "hand_type": "right",
   "data_id": 1,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/bulb/convex",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/bulb/convex",
   "left_object_mesh_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_fre/metahand/right/scoopspoon/task_info.json b/processed/fair_fre/metahand/right/scoopspoon/task_info.json
index 5dc0eb27af98b895e69ab642cf521b9c22488bbe..cb044d007552ff438e815bdf8dc5aba5f6d97e0c 100644
--- a/processed/fair_fre/metahand/right/scoopspoon/task_info.json
+++ b/processed/fair_fre/metahand/right/scoopspoon/task_info.json
@@ -4,8 +4,8 @@
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   "hand_type": "right",
   "data_id": 2,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon/convex",
+  "right_object_mesh_dir": "processed/fair_fre/assets/objects/spoon",
+  "right_object_convex_dir": "processed/fair_fre/assets/objects/spoon/convex",
   "left_object_mesh_dir": null,
   "left_object_convex_dir": null
 }
\ No newline at end of file
diff --git a/processed/fair_mon/allegro/right/cat/task_info.json b/processed/fair_mon/allegro/right/cat/task_info.json
index c76fdd3790379a4477566d2017fe9425433a87ca..a173edcbd806484f5f5714c72df8f59e1b81674a 100644
--- a/processed/fair_mon/allegro/right/cat/task_info.json
+++ b/processed/fair_mon/allegro/right/cat/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "allegro",
   "embodiment_type": "right",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
+  "right_object_mesh_dir": "processed/fair_mon/assets/objects/cat",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex"
+  "right_object_convex_dir": "processed/fair_mon/assets/objects/cat/convex"
 }
\ No newline at end of file
diff --git a/processed/fair_mon/allegro/right/coke/task_info.json b/processed/fair_mon/allegro/right/coke/task_info.json
index 0cc263c5dd3063137f528ada98cbb5950f0473bc..cea456cf51cec1fc12accd09b504d70e353bc426 100644
--- a/processed/fair_mon/allegro/right/coke/task_info.json
+++ b/processed/fair_mon/allegro/right/coke/task_info.json
@@ -4,7 +4,7 @@
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   "embodiment_type": "right",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/",
+  "right_object_mesh_dir": "processed/fair_mon/assets/objects/",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects//convex"
+  "right_object_convex_dir": "processed/fair_mon/assets/objects//convex"
 }
\ No newline at end of file
diff --git a/processed/fair_mon/assets/objects/convex/0.obj b/processed/fair_mon/assets/objects/convex/0.obj
index 1845e77722ffc2462e165eaad71233bb74c6022d..4bcb4453768a9195495d4fec6465f22bbc9a61d8 100644
--- a/processed/fair_mon/assets/objects/convex/0.obj
+++ b/processed/fair_mon/assets/objects/convex/0.obj
@@ -1,3 +1,3 @@
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index 86e297ea7ac76170c6bf10d37a5a2c44de5abf65..e76277725d7f891aabc2919848000a7edc75871c 100644
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+++ b/processed/fair_mon/inspire/right/coke/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "inspire",
   "hand_type": "right",
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-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/coke",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/coke/convex",
+  "right_object_mesh_dir": "processed/fair_mon/assets/objects/coke",
+  "right_object_convex_dir": "processed/fair_mon/assets/objects/coke/convex",
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 }
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diff --git a/processed/fair_mon/mano/right/cat/task_info.json b/processed/fair_mon/mano/right/cat/task_info.json
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+++ b/processed/fair_mon/mano/right/cat/task_info.json
@@ -4,7 +4,7 @@
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-  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat",
+  "right_object_mesh_dir": "processed/fair_mon/assets/objects/cat",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/cat/convex"
+  "right_object_convex_dir": "processed/fair_mon/assets/objects/cat/convex"
 }
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@@ -4,7 +4,7 @@
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-  "right_object_mesh_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects/",
+  "right_object_mesh_dir": "processed/fair_mon/assets/objects/",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/spider/example_datasets/processed/fair_mon/assets/objects//convex"
+  "right_object_convex_dir": "processed/fair_mon/assets/objects/convex"
 }
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@@ -4,7 +4,7 @@
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-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
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 }
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-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/coke/convex",
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 }
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--- /dev/null
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+
+  <default>
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+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                  </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" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0226112" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0153952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0222938 -0.0464417 0.00359782" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_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="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="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="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="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="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="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="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="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="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="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"/>
+  </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/fair_mon/xhand/right/coke/scene_eq.xml b/processed/fair_mon/xhand/right/coke/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a1a2062d82be392ed5f6baa2366d1f2b3c322b58
--- /dev/null
+++ b/processed/fair_mon/xhand/right/coke/scene_eq.xml
@@ -0,0 +1,385 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="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_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_0" file="objects/convex/0.obj"/>
+    <mesh name="right_1" file="objects/convex/1.obj"/>
+    <mesh name="right_2" file="objects/convex/2.obj"/>
+    <mesh name="right_3" file="objects/convex/3.obj"/>
+    <mesh name="right_4" file="objects/convex/4.obj"/>
+    <mesh name="right_5" file="objects/convex/5.obj"/>
+    <mesh name="right_6" file="objects/convex/6.obj"/>
+    <mesh name="right_7" file="objects/convex/7.obj"/>
+    <mesh name="right_8" file="objects/convex/8.obj"/>
+    <mesh name="right_visual" file="objects/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                  </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" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0226112" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0153952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0222938 -0.0464417 0.00359782" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_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="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="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="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="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="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="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="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="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="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="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"/>
+  </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/fair_mon/xhand/right/coke/task_info.json b/processed/fair_mon/xhand/right/coke/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c272acdd49c4d45bc7c5af9b7dc5c0a79e09262
--- /dev/null
+++ b/processed/fair_mon/xhand/right/coke/task_info.json
@@ -0,0 +1,10 @@
+{
+  "task": "coke",
+  "dataset_name": "fair_mon",
+  "robot_type": "xhand",
+  "embodiment_type": "right",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/fair_mon/assets/objects/",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "processed/fair_mon/assets/objects/convex"
+}
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/p36-tea/task_info.json b/processed/gigahand/ability/bimanual/p36-tea/task_info.json
index 94576f4eaad57a112d12f7c1fb125afc34c6d172..87abb067ca01ad9d53c3b07352282c559b69a434 100644
--- a/processed/gigahand/ability/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/ability/bimanual/p36-tea/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 10,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/p44-dog/task_info.json b/processed/gigahand/ability/bimanual/p44-dog/task_info.json
index 4f1f293e8785fe034c544addb305152f2dcb2e9c..0d072c6cf9437b948732dc14b1dbfb7bed922cf8 100644
--- a/processed/gigahand/ability/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/ability/bimanual/p44-dog/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 4,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/task_info.json b/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
index a95300c1a96156aa024dfa8c8587299e1a34dcd6..6b094348774b2c3706b42fc95c9797d46d6e06b5 100644
--- a/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 34,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p52-instrument",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/task_info.json b/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
index 010e5ec2173ff3204ee6b13c2b78ce2800dfca23..d0f13f5cee3beac7007496e6352bd11905c60e10 100644
--- a/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p36-tea/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 10,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea/convex"
-}
\ No newline at end of file
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
+}
diff --git a/processed/gigahand/allegro/bimanual/p44-dog/task_info.json b/processed/gigahand/allegro/bimanual/p44-dog/task_info.json
index 8f96e59f8f06789d6f52256979c3457f25499067..3ce87e0493ac4414843e3c0762ddb289a3574d08 100644
--- a/processed/gigahand/allegro/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p44-dog/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 4,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json b/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
index 385043d1807a1a0adcd4bbdcd4f390e0ea883d09..e45cb08c0cf12f166299aefd325c19b340890c84 100644
--- a/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/allegro/bimanual/p52-instrument/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 34,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p52-instrument",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/p36-tea/task_info.json b/processed/gigahand/inspire/bimanual/p36-tea/task_info.json
index 9b445fd77491d093d37777fed39f47cd47203775..71e773e23c674ce97d34a51cba59f5f17b19ee21 100644
--- a/processed/gigahand/inspire/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/inspire/bimanual/p36-tea/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 10,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/p44-dog/task_info.json b/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
index f699d78015e46156108c0c9236a3f386cdf168eb..c234dc925284af8f5fbaab04aa94bddeab3551db 100644
--- a/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 4,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json b/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
index 3c1ae54f58c57642608de3db0c256723887c63ec..9fb73e88c5de574804ff7e7b94cf66518e53fdbd 100644
--- a/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 34,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p52-instrument",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/mano/bimanual/p36-tea/task_info.json b/processed/gigahand/mano/bimanual/p36-tea/task_info.json
index d9f7ee47a0a9ca81410b0fe9aeb3deb4ac35d10c..4775dd4b4f8ebcb09b0d12c0f510e8bb47a54963 100644
--- a/processed/gigahand/mano/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/mano/bimanual/p36-tea/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 10,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/mano/bimanual/p44-dog/task_info.json b/processed/gigahand/mano/bimanual/p44-dog/task_info.json
index 0b78b9d43d71777bf4bf92c4c32fd3ffa6cdbc2e..a367842ad563b2645b4f93c7c333a5c4942f4bdf 100644
--- a/processed/gigahand/mano/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/mano/bimanual/p44-dog/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 4,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/mano/bimanual/p52-instrument/task_info.json b/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
index 8a9697e4d20fb95529a6d88cb8a3fbe84b67fc7f..330b32e715dab2d95f5f699a92137aa70837ce75 100644
--- a/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 34,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p52-instrument",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/p36-tea/task_info.json b/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
index 15dd385c9c5ec303bd0e87ff9bba151f63e1146b..b20152d79e68b83915efa82bdb61963d3c6aebe0 100644
--- a/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 10,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/task_info.json b/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
index 20b20b8524d51f8584197a3d9e41bb7d8b844f7f..9ae54d6673188b32b7d9242177932125617ec33a 100644
--- a/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 4,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json b/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
index 2c1912f6e9ea84d4ae166440452b7c5ee1ecd5b5..9850a9342297614cfc330310708737170e5d3a26 100644
--- a/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 34,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p52-instrument",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/task_info.json b/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
index 67a45b23ded174811b195bac94daa91f0994811f..0f8880624d06cbef83effb968452e43ba8bd4607 100644
--- a/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
+++ b/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 10,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p36-tea/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/p44-dog/task_info.json b/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
index a17ee4eabe66ccdeb8d472977a759751ae65d147..6610aeac91b648a5efc1061b5ac58b4b8744b1cf 100644
--- a/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 4,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog",
+  "right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json b/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
index 09cd962dcc0f10c2f7af29bcd85c2e3b5153de50..f6f9bde460dab60c0e8cf445206784e7866084a8 100644
--- a/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
@@ -4,8 +4,8 @@
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   "hand_type": "bimanual",
   "data_id": 34,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument",
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   "left_object_mesh_dir": null,
   "ref_dt": 0.02,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p52-instrument/convex"
+  "right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
 }
\ No newline at end of file
diff --git a/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_ikrollout.npz b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_ikrollout.npz
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+++ b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_kinematic.npz b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_kinematic.npz
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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diff --git a/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_ik.mp4 b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_ik.mp4
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diff --git a/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/scene.xml b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e45179585ec19d135452aa46a157ced786084e5f
--- /dev/null
+++ b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/scene.xml
@@ -0,0 +1,850 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
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+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
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+
+  <default>
+    <default class="mimic_right">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_right">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link"/>
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0"/>
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0"/>
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0"/>
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0"/>
+        </default>
+        <default class="right_fingertip_visual">
+          <geom material="right_white" mesh="right_link_3.0_tip"/>
+        </default>
+        <default class="right_thumbtip_visual">
+          <geom material="right_white" mesh="right_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="right_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="right_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="right_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="right_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="right_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="right_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+    <default class="mimic_left">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_left">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black"/>
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link"/>
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0"/>
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0"/>
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0"/>
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0"/>
+        </default>
+        <default class="left_fingertip_visual">
+          <geom material="left_white" mesh="left_link_3.0_tip"/>
+        </default>
+        <default class="left_thumbtip_visual">
+          <geom material="left_white" mesh="left_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="left_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="left_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="left_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="left_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="left_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="left_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="left_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="left_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="left_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="left_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="left_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="left_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="left_base_link" file="robots/allegro/assets/base_link_left.stl"/>
+    <mesh name="left_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="left_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="left_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="left_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="left_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="left_link_12.0_left" file="robots/allegro/assets/link_12.0_left.stl"/>
+    <mesh name="left_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="left_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="right_0" file="objects/96945373046044/convex/0.obj"/>
+    <mesh name="right_1" file="objects/96945373046044/convex/1.obj"/>
+    <mesh name="right_2" file="objects/96945373046044/convex/2.obj"/>
+    <mesh name="right_3" file="objects/96945373046044/convex/3.obj"/>
+    <mesh name="right_4" file="objects/96945373046044/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/96945373046044/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="right_palm_visual" mesh="right_base_link"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_ff_proximal" pos="0 0 0.0164">
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_ff_medial" pos="0 0 0.054">
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_ff_distal" pos="0 0 0.0384">
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_ff_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_mf_base" pos="0 0 0.0007">
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_mf_proximal" pos="0 0 0.0164">
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_mf_medial" pos="0 0 0.054">
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_mf_distal" pos="0 0 0.0384">
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_mf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_rf_proximal" pos="0 0 0.0164">
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_rf_medial" pos="0 0 0.054">
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_rf_distal" pos="0 0 0.0384">
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_rf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <geom class="right_visual" mesh="right_link_12.0_right"/>
+        <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="right_visual" mesh="right_link_13.0"/>
+          <body name="right_th_medial" pos="0 0 0.0177">
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_visual" mesh="right_link_14.0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="right_th_distal" pos="0 0 0.0514">
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_visual" mesh="right_link_15.0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <body name="right_th_tip">
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_palm" childclass="allegro_left" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="left_pos_x" class="left_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="left_pos_y" class="left_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="left_pos_z" class="left_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="left_rot_x" class="left_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
+        <body name="left_rf_proximal" pos="0 0 0.0164">
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="left_rf_medial" pos="0 0 0.054">
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="left_rf_distal" pos="0 0 0.0384">
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
+              <body name="left_rf_tip">
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_mf_base" pos="0 0 0.0007">
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
+        <body name="left_mf_proximal" pos="0 0 0.0164">
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="left_mf_medial" pos="0 0 0.054">
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="left_mf_distal" pos="0 0 0.0384">
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
+              <body name="left_mf_tip">
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
+        <body name="left_ff_proximal" pos="0 0 0.0164">
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="left_ff_medial" pos="0 0 0.054">
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="left_ff_distal" pos="0 0 0.0384">
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
+              <body name="left_ff_tip">
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
+        <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="left_visual" mesh="left_link_13.0"/>
+          <body name="left_th_medial" pos="0 0 0.0177">
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_visual" mesh="left_link_14.0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="left_th_distal" pos="0 0 0.0514">
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom class="left_visual" mesh="left_link_15.0"/>
+              <body name="left_th_tip">
+                <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_joint" type="free" armature="1" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_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_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_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_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_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_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_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_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_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"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+    <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
+    <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
+    <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
+    <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
+    <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
+    <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/scene_eq.xml b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d0fb68eb49562d5ad5653c58fea8f42d88ea97fe
--- /dev/null
+++ b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/scene_eq.xml
@@ -0,0 +1,869 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="10">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <default class="mimic_right">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_right">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="right_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
+        <default class="right_palm_visual">
+          <geom mesh="right_base_link"/>
+        </default>
+        <default class="right_base_visual">
+          <geom mesh="right_link_0.0"/>
+        </default>
+        <default class="right_proximal_visual">
+          <geom mesh="right_link_1.0"/>
+        </default>
+        <default class="right_medial_visual">
+          <geom mesh="right_link_2.0"/>
+        </default>
+        <default class="right_distal_visual">
+          <geom mesh="right_link_3.0"/>
+        </default>
+        <default class="right_fingertip_visual">
+          <geom material="right_white" mesh="right_link_3.0_tip"/>
+        </default>
+        <default class="right_thumbtip_visual">
+          <geom material="right_white" mesh="right_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="right_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="right_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="right_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="right_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="right_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="right_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="right_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="right_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="right_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="right_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="right_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="right_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="right_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="right_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="right_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="right_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="right_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="right_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="right_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="right_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="right_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+    <default class="mimic_left">
+      <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    </default>
+    <default class="allegro_left">
+      <joint armature="1"/>
+      <geom density="800"/>
+      <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black"/>
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link"/>
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0"/>
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0"/>
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0"/>
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0"/>
+        </default>
+        <default class="left_fingertip_visual">
+          <geom material="left_white" mesh="left_link_3.0_tip"/>
+        </default>
+        <default class="left_thumbtip_visual">
+          <geom material="left_white" mesh="left_link_15.0_tip"/>
+        </default>
+      </default>
+      <default class="left_collision">
+        <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475"/>
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082"/>
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275"/>
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027"/>
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885"/>
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192"/>
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257"/>
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008"/>
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157"/>
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <geom size="0.012 0.01 0" type="capsule"/>
+          <default class="left_thumbtip_collision">
+            <geom size="0.012 0.008 0"/>
+          </default>
+        </default>
+      </default>
+      <default class="left_base_slide">
+        <joint type="slide" range="-3 3"/>
+        <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="left_base_hinge">
+        <joint range="-6.28 6.28"/>
+        <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+      </default>
+      <default class="left_base">
+        <joint range="-0.47 0.47"/>
+        <general ctrlrange="-0.47 0.47"/>
+      </default>
+      <default class="left_proximal">
+        <joint range="0.196 1.61"/>
+        <general ctrlrange="0.196 1.61"/>
+      </default>
+      <default class="left_medial">
+        <joint range="0.174 1.709"/>
+        <general ctrlrange="0.174 1.709"/>
+      </default>
+      <default class="left_distal">
+        <joint range="0.227 1.618"/>
+        <general ctrlrange="0.227 1.618"/>
+      </default>
+      <default class="left_thumb_base">
+        <joint range="0.263 1.396"/>
+        <general ctrlrange="0.263 1.396"/>
+      </default>
+      <default class="left_thumb_proximal">
+        <joint range="0.105 1.163"/>
+        <general ctrlrange="0.105 1.163"/>
+      </default>
+      <default class="left_thumb_medial">
+        <joint range="0.189 1.644"/>
+        <general ctrlrange="0.189 1.644"/>
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719"/>
+        <general ctrlrange="0.162 1.719"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="right_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_black" rgba="0.2 0.2 0.2 1"/>
+    <material name="left_white" rgba="0.9 0.9 0.9 1"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
+    <mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
+    <mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="left_base_link" file="robots/allegro/assets/base_link_left.stl"/>
+    <mesh name="left_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
+    <mesh name="left_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
+    <mesh name="left_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
+    <mesh name="left_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
+    <mesh name="left_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
+    <mesh name="left_link_12.0_left" file="robots/allegro/assets/link_12.0_left.stl"/>
+    <mesh name="left_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
+    <mesh name="left_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
+    <mesh name="left_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
+    <mesh name="left_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
+    <mesh name="right_0" file="objects/96945373046044/convex/0.obj"/>
+    <mesh name="right_1" file="objects/96945373046044/convex/1.obj"/>
+    <mesh name="right_2" file="objects/96945373046044/convex/2.obj"/>
+    <mesh name="right_3" file="objects/96945373046044/convex/3.obj"/>
+    <mesh name="right_4" file="objects/96945373046044/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/96945373046044/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="right_palm_visual" mesh="right_base_link"/>
+      <geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_ff_proximal" pos="0 0 0.0164">
+          <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_ff_medial" pos="0 0 0.054">
+            <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_ff_distal" pos="0 0 0.0384">
+              <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_ff_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_mf_base" pos="0 0 0.0007">
+        <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_mf_proximal" pos="0 0 0.0164">
+          <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_mf_medial" pos="0 0 0.054">
+            <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_mf_distal" pos="0 0 0.0384">
+              <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_mf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="right_base_visual" mesh="right_link_0.0"/>
+        <body name="right_rf_proximal" pos="0 0 0.0164">
+          <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="right_proximal_visual" mesh="right_link_1.0"/>
+          <geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="right_rf_medial" pos="0 0 0.054">
+            <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_medial_visual" mesh="right_link_2.0"/>
+            <geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="right_rf_distal" pos="0 0 0.0384">
+              <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_distal_visual" mesh="right_link_3.0"/>
+              <body name="right_rf_tip">
+                <geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
+                <geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+                <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
+        <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
+        <geom class="right_visual" mesh="right_link_12.0_right"/>
+        <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+          <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="right_visual" mesh="right_link_13.0"/>
+          <body name="right_th_medial" pos="0 0 0.0177">
+            <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="right_visual" mesh="right_link_14.0"/>
+            <geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="right_th_distal" pos="0 0 0.0514">
+              <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="right_visual" mesh="right_link_15.0"/>
+              <geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <body name="right_th_tip">
+                <geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
+                <geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+                <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_palm" childclass="allegro_left" quat="0 0 0.707107 -0.707107" gravcomp="1">
+      <joint name="left_pos_x" class="left_base_slide" pos="0 0 0" axis="1 0 0"/>
+      <joint name="left_pos_y" class="left_base_slide" pos="0 0 0" axis="0 1 0"/>
+      <joint name="left_pos_z" class="left_base_slide" pos="0 0 0" axis="0 0 1"/>
+      <joint name="left_rot_x" class="left_base_hinge" pos="0 0 0" axis="1 0 0"/>
+      <joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
+      <joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
+      <geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
+      <site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
+        <body name="left_rf_proximal" pos="0 0 0.0164">
+          <joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="left_rf_medial" pos="0 0 0.054">
+            <joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="left_rf_distal" pos="0 0 0.0384">
+              <joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
+              <body name="left_rf_tip">
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_mf_base" pos="0 0 0.0007">
+        <joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
+        <body name="left_mf_proximal" pos="0 0 0.0164">
+          <joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="left_mf_medial" pos="0 0 0.054">
+            <joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="left_mf_distal" pos="0 0 0.0384">
+              <joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
+              <body name="left_mf_tip">
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
+        <geom class="left_base_visual" mesh="left_link_0.0"/>
+        <body name="left_ff_proximal" pos="0 0 0.0164">
+          <joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
+          <geom class="left_proximal_visual" mesh="left_link_1.0"/>
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
+          <body name="left_ff_medial" pos="0 0 0.054">
+            <joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_medial_visual" mesh="left_link_2.0"/>
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
+            <body name="left_ff_distal" pos="0 0 0.0384">
+              <joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom class="left_distal_visual" mesh="left_link_3.0"/>
+              <body name="left_ff_tip">
+                <geom class="left_fingertip_visual" pos="0 0 0.0267" mesh="left_link_3.0_tip"/>
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" pos="0 0 0.019" mass="0"/>
+                <site name="left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+                <site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.019"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
+        <joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
+        <geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
+        <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
+          <geom class="left_visual" mesh="left_link_13.0"/>
+          <body name="left_th_medial" pos="0 0 0.0177">
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
+            <geom class="left_visual" mesh="left_link_14.0"/>
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
+            <body name="left_th_distal" pos="0 0 0.0514">
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
+              <geom class="left_visual" mesh="left_link_15.0"/>
+              <body name="left_th_tip">
+                <geom class="left_thumbtip_visual" pos="0 0 0.0423" mesh="left_link_15.0_tip"/>
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" pos="0 0 0.035" mass="0"/>
+                <site name="left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+                <site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.035"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="3000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_joint" type="free" armature="1" frictionloss="1"/>
+      <geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
+      <site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_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_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_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_0" geom2="collision_hand_left_index_0" name="collision_hand_left_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_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_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_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_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_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"/>
+  </contact>
+
+  <equality>
+    <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_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_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_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_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_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_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_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"/>
+  </equality>
+
+  <actuator>
+    <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
+    <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
+    <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
+    <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
+    <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
+    <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
+    <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
+    <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
+    <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
+    <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
+    <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
+    <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
+    <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
+    <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
+    <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
+    <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
+    <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
+    <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
+    <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
+    <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
+    <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
+    <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
+    <general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
+    <general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
+    <general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
+    <general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
+    <general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
+    <general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
+    <general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
+    <general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
+    <general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
+    <general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
+    <general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
+    <general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
+    <general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
+    <general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
+    <general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
+    <general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
+    <general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
+    <general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
+    <general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
+    <general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
+    <general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
+    <general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..218f5ad7e2dbd8d19bc44f361dea2ffbf133d268
--- /dev/null
+++ b/processed/hot3d/allegro/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json
@@ -0,0 +1,14 @@
+{
+  "task": "P0001_4bf4e21a-obj96945373046044",
+  "dataset_name": "hot3d",
+  "robot_type": "allegro",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/96945373046044",
+  "left_object_mesh_dir": null,
+  "object_uid": "96945373046044",
+  "sequence_name": "P0001_4bf4e21a",
+  "ref_dt": 0.02,
+  "dataset_dir": "example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/96945373046044/convex"
+}
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diff --git a/processed/hot3d/assets/robots/ability/ability_hand_left_6dof.urdf b/processed/hot3d/assets/robots/ability/ability_hand_left_6dof.urdf
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index 0000000000000000000000000000000000000000..3ff425bd83b80785620414777e41e1284b3e8e9d
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/ability_hand_left_6dof.urdf
@@ -0,0 +1,562 @@
+<robot name="ability_hand">
+ <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="root"/>
+  <joint name="L_forearm_tx_link_joint" type="prismatic">
+    <parent link="L_forearm_tx_link"/>
+    <child link="L_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tx_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_ty_link_joint" type="prismatic">
+    <parent link="L_forearm_ty_link"/>
+    <child link="L_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_ty_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_tz_link_joint" type="prismatic">
+    <parent link="L_forearm_tz_link"/>
+    <child link="L_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tz_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_roll_link_joint" type="revolute">
+    <parent link="L_forearm_roll_link"/>
+    <child link="L_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_roll_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_pitch_link_joint" type="revolute">
+    <parent link="L_forearm_pitch_link"/>
+    <child link="L_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_pitch_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_yaw_link_joint" type="revolute">
+    <parent link="L_forearm_yaw_link"/>
+    <child link="base"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="L_forearm_yaw_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="fixed" type="fixed">
+    <parent link="root"/>
+    <child link="L_forearm_tx_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 0.08848813 3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.400"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz="0 0 0" rpy="0 0 3.330437"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz="-9.49e-3 -13.04e-3 -62.95e-3" rpy="-1.982050 1.284473 -2.090591"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz="9.653191e-3 -15.310271e-3 -67.853949e-3" rpy="-1.860531 1.308458 -1.896217"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz="29.954260e-3 -14.212492e-3 -67.286105e-3" rpy="-1.716598 1.321452 -1.675862"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="pinky_L1"/>
+    <origin xyz="49.521293e-3 -11.004583e-3 -63.029065e-3" rpy="-1.765110 1.322220 -1.658383"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+</robot>
diff --git a/processed/hot3d/assets/robots/ability/ability_hand_right_6dof.urdf b/processed/hot3d/assets/robots/ability/ability_hand_right_6dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e6ea860572a0bd7ef9a9bfe1ea5a745ca88649bf
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/ability_hand_right_6dof.urdf
@@ -0,0 +1,562 @@
+<robot name="ability_hand">
+  <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="root"/>
+  <joint name="R_forearm_tx_link_joint" type="prismatic">
+    <parent link="R_forearm_tx_link"/>
+    <child link="R_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tx_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_ty_link_joint" type="prismatic">
+    <parent link="R_forearm_ty_link"/>
+    <child link="R_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_ty_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_tz_link_joint" type="prismatic">
+    <parent link="R_forearm_tz_link"/>
+    <child link="R_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tz_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_roll_link_joint" type="revolute">
+    <parent link="R_forearm_roll_link"/>
+    <child link="R_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_roll_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_pitch_link_joint" type="revolute">
+    <parent link="R_forearm_pitch_link"/>
+    <child link="R_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_pitch_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_yaw_link_joint" type="revolute">
+    <parent link="R_forearm_yaw_link"/>
+    <child link="base"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="50" velocity="5"/>
+  </joint>
+  <link name="R_forearm_yaw_link">
+    <mass value="0.1"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="fixed" type="fixed">
+    <parent link="root"/>
+    <child link="R_forearm_tx_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="base">
+    <visual name="wrist_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/wristmesh.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/wristmesh_C.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="wrist2thumb" type="fixed">
+    <parent link="base"/>
+    <child link="thumb_base"/>
+    <origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 -0.08848813 -3.14036612"/>
+  </joint>
+  <link name="thumb_base">
+    <inertial>
+      <mass value="0.200"/>
+      <inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="palm_mesh">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/FB_palm_ref_MIR.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/FB_palm_ref_MIR.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L1">
+    <inertial>
+      <mass value="0.00268342"/>
+      <inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
+      <origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_1">
+      <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F1-MIR.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="27.8283501e-3 1.7436510745838653e-19 14.7507e-3" rpy="1.832595714594045 -0.0 5.366520605522463e-18"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F1-MIR_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="thumb_L2">
+    <inertial>
+      <mass value="0.0055"/>
+      <inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
+      <origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
+    </inertial>
+    <visual name="thumb_mesh_2">
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/visual/thumb-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
+      <geometry>
+        <mesh filename="meshes/collision/thumb-F2_C.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="thumb_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="thumb_L1"/>
+    <origin xyz=" 0.0 0.0 0.0 " rpy=" 3.141592653589793 -0.0 -0.18884434641020664 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="thumb_q2" type="revolute">
+    <parent link="thumb_L1"/>
+    <child link="thumb_L2"/>
+    <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <link name="thumb_tip"/>
+  <joint name="thumb_tip_joint" type="fixed">
+    <parent link="thumb_L2"/>
+    <child link="thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.065 0.016 0"/>
+  </joint>
+  <link name="index_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="index_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="index_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="index_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="index_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="index_L1"/>
+    <origin xyz=" 9.49e-3 -13.04e-3 -62.95e-3 " rpy=" -1.1595426535897932 1.284473 -1.0510016535897932 "/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+  </joint>
+  <joint name="index_q2" type="revolute">
+    <parent link="index_L1"/>
+    <child link="index_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="index_tip"/>
+  <joint name="index_tip_joint" type="fixed">
+    <parent link="index_L2"/>
+    <child link="index_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="middle_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="middle_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="middle_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="middle_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="middle_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="middle_L1"/>
+    <origin xyz=" -9.653191e-3 -15.310271e-3 -67.853949e-3 " rpy=" -1.2810616535897934 1.308458 -1.2453756535897933 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="middle_q2" type="revolute">
+    <parent link="middle_L1"/>
+    <child link="middle_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="middle_tip"/>
+  <joint name="middle_tip_joint" type="fixed">
+    <parent link="middle_L2"/>
+    <child link="middle_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="ring_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="ring_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="ring_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="ring_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="ring_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="ring_L1"/>
+    <origin xyz=" -29.95426e-3 -14.212492e-3 -67.286105e-3 " rpy=" -1.424994653589793 1.321452 -1.4657306535897934 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="ring_q2" type="revolute">
+    <parent link="ring_L1"/>
+    <child link="ring_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="ring_tip"/>
+  <joint name="ring_tip_joint" type="fixed">
+    <parent link="ring_L2"/>
+    <child link="ring_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+  <link name="pinky_L1">
+    <inertial>
+      <mass value="0.00635888"/>
+      <inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
+      <origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
+    </inertial>
+    <visual name="pinky_mesh_1">
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F1.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0085"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.028 0.012 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.02 0.01 0.016"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
+      <geometry>
+        <box size="0.012 0.012 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="pinky_L2">
+    <inertial>
+      <mass value="0.00645"/>
+      <inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
+      <origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
+    </inertial>
+    <visual name="pinky_mesh_2">
+      <origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/idx-F2.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/idx-F2_C.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.007"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="pinky_q1" type="revolute">
+    <parent link="thumb_base"/>
+    <child link="pinky_L1"/>
+    <origin xyz=" -49.521293e-3 -11.004583e-3 -63.029065e-3 " rpy=" -1.3764826535897934 1.32222 -1.4832096535897932 "/>
+    <limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="pinky_q2" type="revolute">
+    <parent link="pinky_L1"/>
+    <child link="pinky_L2"/>
+    <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
+    <limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/>
+    <dynamics damping="0.001" friction="0.001"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
+  </joint>
+  <link name="pinky_tip"/>
+  <joint name="pinky_tip_joint" type="fixed">
+    <parent link="pinky_L2"/>
+    <child link="pinky_tip"/>
+    <origin rpy="0 0 0" xyz="0.035  -0.018 0"/>
+  </joint>
+</robot>
diff --git a/processed/hot3d/assets/robots/ability/assets/FB_palm_ref copy.obj b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref copy.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f6d4d8a3ea141748952bd39be203e6b606ac14
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref copy.obj	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ffd7705b618756c71fee073d6799b3dae4bb68fb870246a4791a142cc3d11b7
+size 1026040
diff --git a/processed/hot3d/assets/robots/ability/assets/FB_palm_ref.mtl b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d893400bd7f72b47288a24f3956e75937d96d5c
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl palm_silver
+Ns 489.999983
+Ka 0.300000 0.300000 0.300000
+Kd 0.147027 0.165132 0.187821
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/FB_palm_ref.obj b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514124963bb7534d568e6c42c4e55259ffa83de8
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c94a39fc3c2aac767a263f621287bf4da21f13cd1cd14caa83d656c0bc75f5
+size 31522
diff --git a/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR copy.obj b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR copy.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328fd11a320b336343b7521a3be897eb1fa614a6
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR copy.obj	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ca1cfb231d747224ce0b4f746f6e094ed2596d038c00b492a13674cc4b4e9a
+size 1005301
diff --git a/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR.mtl b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d893400bd7f72b47288a24f3956e75937d96d5c
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl palm_silver
+Ns 489.999983
+Ka 0.300000 0.300000 0.300000
+Kd 0.147027 0.165132 0.187821
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR.obj b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1ce33f8c95fe0a0f6296edd773c0684112b8c1
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/FB_palm_ref_MIR.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af64e454a1973be4982e8f538ae572ee2563bedea76ca570c65b780781ab433
+size 32872
diff --git a/processed/hot3d/assets/robots/ability/assets/idx-F1.mtl b/processed/hot3d/assets/robots/ability/assets/idx-F1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/idx-F1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/idx-F1.obj b/processed/hot3d/assets/robots/ability/assets/idx-F1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624ee1b195e97e6ceb3bfe60e4fe83625fd03349
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/idx-F1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b874a160bf756a10db31d99c55339ebcb26bc429c5ebcc6b01222f81026006
+size 62705
diff --git a/processed/hot3d/assets/robots/ability/assets/idx-F2.mtl b/processed/hot3d/assets/robots/ability/assets/idx-F2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/idx-F2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/idx-F2.obj b/processed/hot3d/assets/robots/ability/assets/idx-F2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc7317302375980ec546903311465493c57fb2a
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/idx-F2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458b603364e916b3a45e7d93b12f94d8b1e84fdaa2f48609765bb1e2c36a39cf
+size 26678
diff --git a/processed/hot3d/assets/robots/ability/assets/idx-F2_C.obj b/processed/hot3d/assets/robots/ability/assets/idx-F2_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db821ec6f4195437f3b69ce0c96256a339bd34db
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/idx-F2_C.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3cc09c18998b5cfca10a577045dee83795d22f7945591eb12b911fd09c3175c
+size 22835
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR.mtl b/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR.obj b/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737d5d8bc5aa23be34ffe16890fd70d6ed8a35c8
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17073d7166aa71a3ba35bf4536c949a95a6ab4566a7b151b2c2714283fd62aa
+size 8238
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR_C.obj b/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c4aa3e05603e254e8c008b43651ba1725f84f6
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F1-MIR_C.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20de784151d7cbdbdb1df9e5383c9037fb661959a516edbbb2fa5873054e6d32
+size 5627
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F1.mtl b/processed/hot3d/assets/robots/ability/assets/thumb-F1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F1.obj b/processed/hot3d/assets/robots/ability/assets/thumb-F1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93480cb94782dccf952699ec2a96e5b5eec4aca7
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a595336b0baefc72e7859d4c6d25ceb3d33076fccead439032bbfa9135c20b
+size 6250
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F1_C.obj b/processed/hot3d/assets/robots/ability/assets/thumb-F1_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32287992129c21f08e5006d14432777b1676abb7
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F1_C.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfde72aec713a7cf61440b3010be1043cc4b5f1e1cee759fb7d4968c6bdd8395
+size 5639
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F2.mtl b/processed/hot3d/assets/robots/ability/assets/thumb-F2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F2.obj b/processed/hot3d/assets/robots/ability/assets/thumb-F2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce9b165fe87573d575933b33944bbda782ac80e
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575cf0f348a59e847697d41342522eff7abafe17b1203633fe36355e4b16b1f5
+size 18604
diff --git a/processed/hot3d/assets/robots/ability/assets/thumb-F2_C.obj b/processed/hot3d/assets/robots/ability/assets/thumb-F2_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c3e7f8d9737cacd027fc5208c4cf32013df6a1
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/thumb-F2_C.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cee181057eb6010ee002c3f0ac7e66ca82cb0f3c3a3f5b45eb606814ec37e2e0
+size 12656
diff --git a/processed/hot3d/assets/robots/ability/assets/wristmesh.mtl b/processed/hot3d/assets/robots/ability/assets/wristmesh.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5afccf21870320cf4c17bc92df435d52d8a5c05
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/wristmesh.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl metal_silver
+Ns 809.999997
+Ka 0.300000 0.300000 0.300000
+Kd 0.208637 0.226966 0.246201
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/assets/wristmesh.obj b/processed/hot3d/assets/robots/ability/assets/wristmesh.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b9178c159f7ccb2543bf09259b62af965e1efe
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/wristmesh.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbba82def982ca550dc5a1f5d2129a249895e80998a8116aff7e0d25ce17130f
+size 3569269
diff --git a/processed/hot3d/assets/robots/ability/assets/wristmesh_C.obj b/processed/hot3d/assets/robots/ability/assets/wristmesh_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a8366e8f6a64e4a1a1e0abb9e66471b801911a
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/assets/wristmesh_C.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683629e54d0711b07f632ba14e83e4cfffd5107ff85ce0734a0dbc78508298cc
+size 15023
diff --git a/processed/hot3d/assets/robots/ability/bimanual.xml b/processed/hot3d/assets/robots/ability/bimanual.xml
new file mode 100644
index 0000000000000000000000000000000000000000..debb1c3e9ab50d0402f803f629151d5135f7d271
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/bimanual.xml
@@ -0,0 +1,4 @@
+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/ability/left.xml b/processed/hot3d/assets/robots/ability/left.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ece4e68dc4ff820e97918ca7402351c19b400e76
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/left.xml
@@ -0,0 +1,328 @@
+<mujoco model="ability_hand">
+  <compiler angle="radian" meshdir="assets/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="100" dampratio="1.0" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <default class="base">
+      <position kp="300" dampratio="3.0" inheritrange="1" />
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+      height="3072" />
+    <texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+    <mesh name="left_wristmesh" file="wristmesh.obj" />
+    <mesh name="left_wristmesh_C" file="wristmesh_C.obj" />
+    <mesh name="left_FB_palm_ref_MIR" file="FB_palm_ref_MIR.obj" />
+    <mesh name="left_thumb-F1-MIR" file="thumb-F1-MIR.obj" />
+    <mesh name="left_thumb-F1-MIR_C" file="thumb-F1-MIR_C.obj" />
+    <mesh name="left_thumb-F2" file="thumb-F2.obj" />
+    <mesh name="left_thumb-F2_C" file="thumb-F2_C.obj" />
+    <mesh name="left_idx-F1" file="idx-F1.obj" />
+    <mesh name="left_idx-F2" file="idx-F2.obj" />
+    <mesh name="left_idx-F2_C" file="idx-F2_C.obj" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+    <body name="R_forearm_ty_link">
+      <camera name="left_track" pos="-0.868 -0.348 -0.175"
+        xyaxes="-0.037 0.999 -0.000 -0.011 -0.000 1.000" />
+      <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"
+      />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"
+        />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"
+          />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"
+            />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"
+              />
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618"
+                  quat="0.206138 0.349162 0.787163 0.464724" mass="0.4"
+                  diaginertia="0.00194995 0.00194995 0.00178617" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"
+                />
+                <geom name="left_wrist_mesh" type="mesh" contype="0" conaffinity="0" group="1"
+                  density="0" mesh="left_wristmesh" />
+                <geom name="collision_hand_left_palm_0" type="mesh" mesh="left_wristmesh_C"
+                  group="3" />
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296"
+                  quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" contype="0"
+                  conaffinity="0" group="1" density="0" mesh="left_FB_palm_ref_MIR" />
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296"
+                  quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh"
+                  mesh="left_FB_palm_ref_MIR" group="3" />
+                <geom type="box" name="collision_hand_left_palm_2" size="0.03 0.02 0.04"
+                  pos="0 0 0.05" contype="0" conaffinity="0" group="3"
+                  density="0" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" type="box"
+                  size="0.01 0.02 0.03" quat="1 0 0 -1" />
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296"
+                  quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554"
+                    quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342"
+                    diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"
+                  />
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507"
+                    quat="0.608761 0.793353 0 0"
+                    type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    mesh="left_thumb-F1-MIR" />
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507"
+                    quat="0.608761 0.793353 0 0" type="mesh"
+                    mesh="left_thumb-F1-MIR_C" group="3" />
+                  <geom name="collision_hand_left_thumb_3" type="sphere" size="0.01"
+                    pos="0.0278284 0 0.0147507" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507"
+                    quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044"
+                      quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055"
+                      diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1.0"
+                    />
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483"
+                      quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" contype="0"
+                      conaffinity="0" group="1" density="0" mesh="left_thumb-F2" />
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483"
+                      quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh"
+                      mesh="left_thumb-F2_C" group="3" />
+                    <geom name="collision_hand_left_thumb_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.0651867 0.0233402 0.00393483" contype="0" conaffinity="0"
+                      group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483" />
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706"
+                  quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="left_idx-F1" />
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0"
+                    group="3" />
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008"
+                    pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008"
+                    pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001"
+                    pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001"
+                    pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" group="3" />
+                  <geom name="collision_hand_left_index_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_index_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_index_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_index_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_index_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634"
+                  quat="0.704562 0.0715738 -0.698395 -0.103508">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_left_middle_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_middle_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038"
+                  quat="0.721351 0.0986547 -0.681173 -0.0769649">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244"
+                    type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_left_ring_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_ring_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346"
+                  quat="0.719226 0.122363 -0.681748 -0.0544096">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="left_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_left_pinky_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" />
+                    <geom type="mesh" mesh="left_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="left_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <position class="base" name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" />
+    <position class="base" name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" />
+    <position class="base" name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" />
+    <position class="base" name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" />
+    <position class="base" name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" />
+    <position class="base" name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" />
+
+    <!-- Thumb joints -->
+    <position name="left_thumb_q1_position" joint="left_thumb_q1" />
+    <position name="left_thumb_q2_position" joint="left_thumb_q2" />
+
+    <!-- Index joints -->
+    <position name="left_index_q1_position" joint="left_index_q1" />
+    <position name="left_index_q2_position" joint="left_index_q2" />
+
+    <!-- Middle joints -->
+    <position name="left_middle_q1_position" joint="left_middle_q1" />
+    <position name="left_middle_q2_position" joint="left_middle_q2" />
+
+    <!-- Ring joints -->
+    <position name="left_ring_q1_position" joint="left_ring_q1" />
+    <position name="left_ring_q2_position" joint="left_ring_q2" />
+
+    <!-- Pinky joints -->
+    <position name="left_pinky_q1_position" joint="left_pinky_q1" />
+    <position name="left_pinky_q2_position" joint="left_pinky_q2" />
+
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/assets/robots/ability/meshes/collision/FB_palm_ref.obj b/processed/hot3d/assets/robots/ability/meshes/collision/FB_palm_ref.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514124963bb7534d568e6c42c4e55259ffa83de8
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/collision/FB_palm_ref.obj
@@ -0,0 +1,3 @@
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+size 31522
diff --git a/processed/hot3d/assets/robots/ability/meshes/collision/FB_palm_ref_MIR.obj b/processed/hot3d/assets/robots/ability/meshes/collision/FB_palm_ref_MIR.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1ce33f8c95fe0a0f6296edd773c0684112b8c1
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/collision/FB_palm_ref_MIR.obj
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diff --git a/processed/hot3d/assets/robots/ability/meshes/collision/idx-F2_C.obj b/processed/hot3d/assets/robots/ability/meshes/collision/idx-F2_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db821ec6f4195437f3b69ce0c96256a339bd34db
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/collision/idx-F2_C.obj
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diff --git a/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F1-MIR_C.obj b/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F1-MIR_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81c4aa3e05603e254e8c008b43651ba1725f84f6
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diff --git a/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F1_C.obj b/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F1_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32287992129c21f08e5006d14432777b1676abb7
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F1_C.obj
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diff --git a/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F2_C.obj b/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F2_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c3e7f8d9737cacd027fc5208c4cf32013df6a1
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/collision/thumb-F2_C.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cee181057eb6010ee002c3f0ac7e66ca82cb0f3c3a3f5b45eb606814ec37e2e0
+size 12656
diff --git a/processed/hot3d/assets/robots/ability/meshes/collision/wristmesh_C.obj b/processed/hot3d/assets/robots/ability/meshes/collision/wristmesh_C.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a8366e8f6a64e4a1a1e0abb9e66471b801911a
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/collision/wristmesh_C.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683629e54d0711b07f632ba14e83e4cfffd5107ff85ce0734a0dbc78508298cc
+size 15023
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d893400bd7f72b47288a24f3956e75937d96d5c
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl palm_silver
+Ns 489.999983
+Ka 0.300000 0.300000 0.300000
+Kd 0.147027 0.165132 0.187821
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref.obj b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f6d4d8a3ea141748952bd39be203e6b606ac14
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ffd7705b618756c71fee073d6799b3dae4bb68fb870246a4791a142cc3d11b7
+size 1026040
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref_MIR.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref_MIR.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d893400bd7f72b47288a24f3956e75937d96d5c
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref_MIR.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl palm_silver
+Ns 489.999983
+Ka 0.300000 0.300000 0.300000
+Kd 0.147027 0.165132 0.187821
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref_MIR.obj b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref_MIR.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328fd11a320b336343b7521a3be897eb1fa614a6
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/FB_palm_ref_MIR.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ca1cfb231d747224ce0b4f746f6e094ed2596d038c00b492a13674cc4b4e9a
+size 1005301
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/idx-F1.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/idx-F1.obj b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624ee1b195e97e6ceb3bfe60e4fe83625fd03349
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b874a160bf756a10db31d99c55339ebcb26bc429c5ebcc6b01222f81026006
+size 62705
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/idx-F2.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/idx-F2.obj b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc7317302375980ec546903311465493c57fb2a
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/idx-F2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458b603364e916b3a45e7d93b12f94d8b1e84fdaa2f48609765bb1e2c36a39cf
+size 26678
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1-MIR.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1-MIR.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1-MIR.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1-MIR.obj b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1-MIR.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737d5d8bc5aa23be34ffe16890fd70d6ed8a35c8
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1-MIR.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17073d7166aa71a3ba35bf4536c949a95a6ab4566a7b151b2c2714283fd62aa
+size 8238
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1.obj b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93480cb94782dccf952699ec2a96e5b5eec4aca7
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a595336b0baefc72e7859d4c6d25ceb3d33076fccead439032bbfa9135c20b
+size 6250
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F2.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
+Kd 0.013702 0.015996 0.022174
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F2.obj b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce9b165fe87573d575933b33944bbda782ac80e
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/thumb-F2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575cf0f348a59e847697d41342522eff7abafe17b1203633fe36355e4b16b1f5
+size 18604
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/wristmesh.mtl b/processed/hot3d/assets/robots/ability/meshes/visual/wristmesh.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5afccf21870320cf4c17bc92df435d52d8a5c05
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/wristmesh.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl metal_silver
+Ns 809.999997
+Ka 0.300000 0.300000 0.300000
+Kd 0.208637 0.226966 0.246201
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/ability/meshes/visual/wristmesh.obj b/processed/hot3d/assets/robots/ability/meshes/visual/wristmesh.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b9178c159f7ccb2543bf09259b62af965e1efe
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/meshes/visual/wristmesh.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbba82def982ca550dc5a1f5d2129a249895e80998a8116aff7e0d25ce17130f
+size 3569269
diff --git a/processed/hot3d/assets/robots/ability/retarget_config.yaml b/processed/hot3d/assets/robots/ability/retarget_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1623c504af9866f15ba61074476d61888009df49
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/retarget_config.yaml
@@ -0,0 +1,21 @@
+low_pass_alpha: 1.0
+scaling_factor: 1.0
+left:
+  urdf_path: ability_hand_left_6dof.urdf
+  target_origin_link: "base"
+  human_origin_idx: 0
+  target_finger_links: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip", "thumb_L1", "index_L1", "middle_L1", "ring_L1", "pinky_L1"]
+  human_finger_idxs: [ 16, 17, 18, 19, 20, 14, 1, 4, 10, 7] 
+  target_joint_names: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1', 'L_forearm_tx_link_joint', 'L_forearm_ty_link_joint', 'L_forearm_tz_link_joint', 'L_forearm_roll_link_joint', 'L_forearm_pitch_link_joint', 'L_forearm_yaw_link_joint']
+  wrist_body: "base"
+
+right:
+  urdf_path: ability_hand_right_6dof.urdf
+  target_origin_link: "base"
+  human_origin_idx: 0
+  target_finger_links: [ "thumb_tip",  "index_tip", "middle_tip", "ring_tip", "pinky_tip", "thumb_L1", "index_L1", "middle_L1", "ring_L1", "pinky_L1"]
+  human_finger_idxs: [ 16, 17, 18, 19, 20, 14, 1, 4, 10, 7] 
+  target_joint_names: [ 'thumb_q1', 'thumb_q2', 'index_q1', 'middle_q1', 'pinky_q1', 'ring_q1', 'R_forearm_tx_link_joint', 'R_forearm_ty_link_joint', 'R_forearm_tz_link_joint', 'R_forearm_roll_link_joint', 'R_forearm_pitch_link_joint', 'R_forearm_yaw_link_joint']
+  wrist_body: "base"
+
+ 
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/ability/right.xml b/processed/hot3d/assets/robots/ability/right.xml
new file mode 100644
index 0000000000000000000000000000000000000000..98afaf5c30305b2a66e6477f02d80dc2d0e009fc
--- /dev/null
+++ b/processed/hot3d/assets/robots/ability/right.xml
@@ -0,0 +1,318 @@
+<mujoco model="ability_hand">
+  <compiler angle="radian" meshdir="assets/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="100" dampratio="1.0" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+    <default class="base">
+      <position kp="300" dampratio="3.0" inheritrange="1" />
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
+      height="3072" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1"
+      markrgb="1 1 1" width="300" height="300" />
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+    <mesh name="right_wristmesh" content_type="model/obj" file="wristmesh.obj" />
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="wristmesh_C.obj" />
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="FB_palm_ref.obj" />
+    <mesh name="right_thumb-F1" content_type="model/obj" file="thumb-F1.obj" />
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="thumb-F1_C.obj" />
+    <mesh name="right_thumb-F2" content_type="model/obj" file="thumb-F2.obj" />
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="thumb-F2_C.obj" />
+    <mesh name="right_idx-F1" content_type="model/obj" file="idx-F1.obj" />
+    <mesh name="right_idx-F2" content_type="model/obj" file="idx-F2.obj" />
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="idx-F2_C.obj" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+    <body name="L_forearm_ty_link">
+      <camera name="right_track" pos="0.868 -0.348 -0.175"
+        xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+      <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" />
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"
+              />
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965"
+                  quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6"
+                  diaginertia="0.00200455 0.00200455 0.00178617" />
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="right_wrist_mesh" type="mesh" contype="0" conaffinity="0" group="1"
+                  density="0" mesh="right_wristmesh" />
+                <geom name="collision_hand_right_palm_0" type="mesh" mesh="right_wristmesh_C"
+                  group="3" />
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296"
+                  quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" contype="0"
+                  conaffinity="0" group="1" density="0" mesh="right_FB_palm_ref" />
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296"
+                  quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh"
+                  mesh="right_FB_palm_ref" group="3" />
+                <geom type="box" name="collision_hand_right_palm_2" size="0.03 0.02 0.04"
+                  pos="0 0 0.05" contype="0" conaffinity="0" group="3"
+                  density="0" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" type="box"
+                  size="0.01 0.02 0.03" quat="1 0 0 -1" />
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296"
+                  quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554"
+                    quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342"
+                    diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" />
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"
+                  />
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507"
+                    quat="-0.608761 0.793353 0 0" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="right_thumb-F1" />
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh"
+                    mesh="right_thumb-F1_C" />
+                  <!-- <geom name="collision_hand_right_thumb_1" type="sphere" size="0.01"
+                    pos="0.0278284 0 -0.0147507" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" /> -->
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507"
+                    quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044"
+                      quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055"
+                      diaginertia="0.00180207 0.00170892 0.000287855" />
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1.0"
+                    />
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483"
+                      quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" contype="0"
+                      conaffinity="0" group="1" density="0" mesh="right_thumb-F2" />
+                    <geom pos="0.0651867 0.0233402 -0.00393483"
+                      quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh"
+                      mesh="right_thumb-F2_C" />
+                    <!-- <geom name="collision_hand_right_thumb_0" type="sphere" size="0.007"
+                      pos="0.0651867 0.0233402 -0.00393483" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" /> -->
+                    <geom name="collision_hand_right_thumb_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.0651867 0.0233402 -0.00393483" contype="0" conaffinity="0"
+                      group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" />
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706"
+                  quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_right_index_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
+                    <geom type="mesh" mesh="right_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_right_index_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="right_index_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_right_index_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634"
+                  quat="-0.698395 -0.103508 0.704562 0.0715738">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_right_middle_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
+                    <geom type="mesh" mesh="right_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="right_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038"
+                  quat="-0.681173 -0.0769649 0.721351 0.0986547">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0" />
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244"
+                    type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_right_ring_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
+                    <geom type="mesh" mesh="right_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="right_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+                <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346"
+                  quat="-0.681748 -0.0544096 0.719226 0.122363">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05"
+                    quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888"
+                    diaginertia="0.000381765 0.000369601 2.96432e-05" />
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                  />
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1"
+                    density="0" mesh="right_idx-F1" />
+                  <geom size="0.0085" pos="0.036 -0.00175 0" />
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374"
+                    type="box" />
+                  <geom name="collision_hand_right_pinky_1" type="sphere" size="0.01"
+                    pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3"
+                    density="0" rgba="0 1 0 1" />
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0"
+                    quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05"
+                      quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645"
+                      diaginertia="0.000264645 0.000263553 1.71391e-05" />
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0"
+                    />
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh"
+                      contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" />
+                    <geom type="mesh" mesh="right_idx-F2_C" />
+                    <geom size="0.007" pos="0.03 -0.016 0" />
+                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.007"
+                      fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3"
+                      density="0" rgba="0 1 0 1" />
+                    <site name="right_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0" />
+                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <position class="base" name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" />
+    <position class="base" name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" />
+    <position class="base" name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" />
+    <position class="base" name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" />
+    <position class="base" name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" />
+    <position class="base" name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" />
+
+    <!-- Thumb joints -->
+    <position name="right_thumb_q1_position" joint="right_thumb_q1" />
+    <position name="right_thumb_q2_position" joint="right_thumb_q2" />
+
+    <!-- Index joints -->
+    <position name="right_index_q1_position" joint="right_index_q1" />
+    <position name="right_index_q2_position" joint="right_index_q2" />
+
+    <!-- Middle joints -->
+    <position name="right_middle_q1_position" joint="right_middle_q1" />
+    <position name="right_middle_q2_position" joint="right_middle_q2" />
+
+    <!-- Ring joints -->
+    <position name="right_ring_q1_position" joint="right_ring_q1" />
+    <position name="right_ring_q2_position" joint="right_ring_q2" />
+
+    <!-- Pinky joints -->
+    <position name="right_pinky_q1_position" joint="right_pinky_q1" />
+    <position name="right_pinky_q2_position" joint="right_pinky_q2" />
+
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/assets/robots/allegro/assets/base_link.stl b/processed/hot3d/assets/robots/allegro/assets/base_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..03c7eac6fa285e76d440f0a550288ad1c668ce2e
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/base_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4060e1ae52bca21367e15a1dfab16bc7c2e81849566631b7f55e2cf376b7bc85
+size 163884
diff --git a/processed/hot3d/assets/robots/allegro/assets/base_link_left.stl b/processed/hot3d/assets/robots/allegro/assets/base_link_left.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c5de2bb49dbdd725e43f77ce0b1eb7c4a858fa48
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/base_link_left.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f66c1cb8d27b9f07e49101a7997a49c60d3cc3ccbc8de96065322df68f47a0b
+size 433984
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_0.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_0.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2d066dea889e2a0d3afd65cb8e09f4c6ff174f3a
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_0.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b90a6744d472a6ffaee02cbf32eb8a5600b1da0944e86aeb9f53503a9f8ac9
+size 57584
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_1.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_1.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8279f4250ce3f3c1eeca3bf61d2ca3e733a71b9a
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_1.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3dfb35b6682f62f18ca6ed0b39cb94ff627b68e0e3373cf7212390574604680
+size 70084
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_12.0_left.stl b/processed/hot3d/assets/robots/allegro/assets/link_12.0_left.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c704a263b02e20a5e0da5a99a01511b5875c511c
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_12.0_left.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1749ba567bf36729a81eaecf384bc4f5483be8c496af54d230500b96f1d81dcc
+size 217084
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_12.0_right.stl b/processed/hot3d/assets/robots/allegro/assets/link_12.0_right.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4cdece39a4066333b547f69af040b897981b845d
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_12.0_right.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5418fc127311eefee1d8ee69dfcfde2157d038286900bee91608d2701b00f13
+size 204284
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_13.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_13.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..1ac764462597afa98f92ab547a10433343021734
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_13.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e906896afc078a12c9c377e3a2b07f375583d3b869581f9962030cabc888be29
+size 22484
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_14.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_14.0.stl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 46884
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_15.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_15.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f432dea4aae0c979edcd9fae87175f94a1545386
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_15.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf963adb775b79b27649f4f5dff4ced58ef676ce86cc677de49d3810382d11e0
+size 43284
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_15.0_tip.stl b/processed/hot3d/assets/robots/allegro/assets/link_15.0_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6ef35f7ffc20beba29ce6971ded8f317c5633f63
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_15.0_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 71984
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_2.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_2.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bcd74eb52725ac4e1ae7b10cacbaeb95f9cea4ca
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_2.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c98477c65b45f5a3de1df0e1b54281da2385f4eafd057d103ab40893771c2d0
+size 52884
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_3.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_3.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c8f6b471e44adaff665b3d2c6a71f38b2b7357fd
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_3.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe333088176395aa7d8a913aa953d3cd649c4c77753224239b78b2c99e3e314c
+size 18084
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_3.0_tip.stl b/processed/hot3d/assets/robots/allegro/assets/link_3.0_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f7637c75fcfd38c54574fcf1a292aced794ae517
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_3.0_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3fa04fea0dfa1257c8a1b02d2b7d982b0d985c1ddda1edf148827944835f39
+size 71984
diff --git a/processed/hot3d/assets/robots/allegro/assets/link_4.0.stl b/processed/hot3d/assets/robots/allegro/assets/link_4.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b835ca91b5cda846d6e04e108e2e15b72162b3c7
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/assets/link_4.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80ac4d443169c56507afaa0b3c72ec3679312bc80cbaebd03e73e96dd18c408
+size 22884
diff --git a/processed/hot3d/assets/robots/allegro/bimanual.xml b/processed/hot3d/assets/robots/allegro/bimanual.xml
new file mode 100644
index 0000000000000000000000000000000000000000..debb1c3e9ab50d0402f803f629151d5135f7d271
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/bimanual.xml
@@ -0,0 +1,4 @@
+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/allegro/left.xml b/processed/hot3d/assets/robots/allegro/left.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8dc535e03fa9c04355acdb1001ae89a62e68427f
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/left.xml
@@ -0,0 +1,297 @@
+<mujoco model="allegro_left">
+  <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+  <option timestep="0.01"
+    iterations="10" ls_iterations="50">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <default>
+    <default class="mimic_left">
+      <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+    </default>
+    <default class="allegro_left">
+      <joint axis="0 1 0" armature="1.0" damping="0.0" />
+      <position kp="300" dampratio="1.0" />
+      <geom density="800" />
+
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black" />
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link" />
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0" />
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0" />
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0" />
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0" />
+        </default>
+        <default class="left_fingertip_visual">
+          <geom pos="0 0 0.0267" material="left_white" mesh="left_link_3.0_tip" />
+        </default>
+        <default class="left_thumbtip_visual">
+          <geom pos="0 0 0.0423" material="left_white" mesh="left_link_15.0_tip" />
+        </default>
+      </default>
+
+      <default class="left_collision">
+        <!-- disable all collisions, use explicit collision pairs -->
+        <geom group="3" type="box" mass="0" condim="1" contype="0" conaffinity="0" />
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" pos="-0.0093 0 -0.0475" />
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082" pos="0 0 0.0082" />
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145" />
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" pos="0 0 0.027" />
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" pos="0 0 0.00885" />
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" pos="0 0 0.0192" />
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" pos="0 0 0.0257" />
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008" pos="0 0 0.008" />
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" pos="0 0 0.0157" />
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <geom type="capsule" size="0.012 0.01" pos="0 0 0.019" group="3" />
+          <default class="left_thumbtip_collision">
+            <geom type="capsule" size="0.012 0.008" pos="0 0 0.035" group="3" />
+          </default>
+        </default>
+      </default>
+
+      <default class="left_base_slide">
+        <joint type="slide" axis="0 1 0" range="-3.0 3.0" />
+        <position kp="1000" ctrlrange="-3.0 3.0" />
+      </default>
+      <default class="left_base_hinge">
+        <joint axis="0 0 1" range="-6.28 6.28" />
+        <position kp="1000" ctrlrange="-6.28 6.28" />
+      </default>
+      <default class="left_base">
+        <joint axis="0 0 1" range="-0.47 0.47" />
+        <position ctrlrange="-0.47 0.47" />
+      </default>
+      <default class="left_proximal">
+        <joint range="0.196 1.61" />
+        <position ctrlrange="0.196 1.61" />
+      </default>
+      <default class="left_medial">
+        <joint range="0.174 1.709" />
+        <position ctrlrange="0.174 1.709" />
+      </default>
+      <default class="left_distal">
+        <joint range="0.227 1.618" />
+        <position ctrlrange="0.227 1.618" />
+      </default>
+      <default class="left_thumb_base">
+        <joint axis="1 0 0" range="0.263 1.396" />
+        <position ctrlrange="0.263 1.396" />
+      </default>
+      <default class="left_thumb_proximal">
+        <joint axis="0 0 1" range="0.105 1.163" />
+        <position ctrlrange="0.105 1.163" />
+      </default>
+      <default class="left_thumb_medial">
+        <joint range="0.189 1.644" />
+        <position ctrlrange="0.189 1.644" />
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719" />
+        <position ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="left_black" rgba="0.2 0.2 0.2 1" />
+    <material name="left_white" rgba="0.9 0.9 0.9 1" />
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+      height="3072" />
+    <texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+
+    <mesh name="left_base_link" file="base_link_left.stl" />
+    <mesh name="left_link_0.0" file="link_0.0.stl" />
+    <mesh name="left_link_1.0" file="link_1.0.stl" />
+    <mesh name="left_link_2.0" file="link_2.0.stl" />
+    <mesh name="left_link_3.0" file="link_3.0.stl" />
+    <mesh name="left_link_3.0_tip" file="link_3.0_tip.stl" />
+    <mesh name="left_link_12.0_left" file="link_12.0_left.stl" />
+    <mesh name="left_link_13.0" file="link_13.0.stl" />
+    <mesh name="left_link_14.0" file="link_14.0.stl" />
+    <mesh name="left_link_15.0" file="link_15.0.stl" />
+    <mesh name="left_link_15.0_tip" file="link_15.0_tip.stl" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+    <body name="left_palm" quat="0 0 1 -1" childclass="allegro_left" gravcomp="1">
+      <!-- <inertial mass="0.4154" pos="0 0 0.0475" diaginertia="1e-4 1e-4 1e-4"/> -->
+      <camera name="left_track" pos="0.868 -0.348 -0.175"
+        xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+      <site name="left_palm" pos="0 0 0" quat="1 0 0 0" class="mimic_left" type="box"
+        size="0.01 0.02 0.03" />
+      <joint name="left_pos_x" axis="1 0 0" class="left_base_slide" />
+      <joint name="left_pos_y" axis="0 1 0" class="left_base_slide" />
+      <joint name="left_pos_z" axis="0 0 1" class="left_base_slide" />
+      <joint name="left_rot_x" axis="1 0 0" class="left_base_hinge" />
+      <joint name="left_rot_y" axis="0 1 0" class="left_base_hinge" />
+      <joint name="left_rot_z" axis="0 0 1" class="left_base_hinge" />
+      <geom quat="1 -1 0 0" class="left_palm_visual" mesh="left_base_link" />
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" />
+      <!-- Ring finger -->
+      <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="left_ring_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+        <body name="left_rf_proximal" pos="0 0 0.0164">
+          <joint name="left_ring_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" />
+          <body name="left_rf_medial" pos="0 0 0.054">
+            <joint name="left_ring_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" />
+            <body name="left_rf_distal" pos="0 0 0.0384">
+              <joint name="left_ring_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+              <body name="left_rf_tip">
+                <site name="left_ring_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="track_hand_left_ring_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="trace_left_ring_tip" pos="0 0 0.019" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- Middle finger -->
+      <body name="left_mf_base" pos="0 0 0.0007">
+        <joint name="left_middle_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+        <body name="left_mf_proximal" pos="0 0 0.0164">
+          <joint name="left_middle_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" />
+          <body name="left_mf_medial" pos="0 0 0.054">
+            <joint name="left_middle_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" />
+            <body name="left_mf_distal" pos="0 0 0.0384">
+              <joint name="left_middle_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+              <body name="left_mf_tip">
+                <site name="left_middle_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="track_hand_left_middle_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="trace_left_middle_tip" pos="0 0 0.019" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- First finger -->
+      <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="left_index_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+        <body name="left_ff_proximal" pos="0 0 0.0164">
+          <joint name="left_index_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" />
+          <body name="left_ff_medial" pos="0 0 0.054">
+            <joint name="left_index_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" />
+            <body name="left_ff_distal" pos="0 0 0.0384">
+              <joint name="left_index_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+              <body name="left_ff_tip">
+                <site name="left_index_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="track_hand_left_index_tip" pos="0 0 0.019" class="mimic_left" />
+                <site name="trace_left_index_tip" pos="0 0 0.019" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- Thumb -->
+      <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987"
+        quat="0.477714 0.521334 -0.521334 0.477714">
+        <joint name="left_thumb_base_joint" class="left_thumb_base" />
+        <geom quat="0 1 0 0" class="left_visual" mesh="left_link_12.0_left" />
+        <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" />
+          <geom class="left_visual" mesh="left_link_13.0" />
+          <body name="left_th_medial" pos="0 0 0.0177">
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" />
+            <geom class="left_visual" mesh="left_link_14.0" />
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" />
+            <body name="left_th_distal" pos="0 0 0.0514">
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" />
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" />
+              <geom class="left_visual" mesh="left_link_15.0" />
+              <body name="left_th_tip">
+                <site name="left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
+                <site name="track_hand_left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
+                <site name="trace_left_thumb_tip" pos="0 0 0.035" class="mimic_left" />
+                <geom class="left_thumbtip_visual" />
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position name="left_pos_x" joint="left_pos_x" class="left_base_slide" />
+    <position name="left_pos_y" joint="left_pos_y" class="left_base_slide" />
+    <position name="left_pos_z" joint="left_pos_z" class="left_base_slide" />
+    <position name="left_rot_x" joint="left_rot_x" class="left_base_hinge" />
+    <position name="left_rot_y" joint="left_rot_y" class="left_base_hinge" />
+    <position name="left_rot_z" joint="left_rot_z" class="left_base_hinge" />
+    <position name="left_rfa0" joint="left_ring_base_joint" class="left_base" />
+    <position name="left_rfa1" joint="left_ring_proximal_joint" class="left_proximal" />
+    <position name="left_rfa2" joint="left_ring_medial_joint" class="left_medial" />
+    <position name="left_rfa3" joint="left_ring_distal_joint" class="left_distal" />
+    <position name="left_mfa0" joint="left_middle_base_joint" class="left_base" />
+    <position name="left_mfa1" joint="left_middle_proximal_joint" class="left_proximal" />
+    <position name="left_mfa2" joint="left_middle_medial_joint" class="left_medial" />
+    <position name="left_mfa3" joint="left_middle_distal_joint" class="left_distal" />
+    <position name="left_ffa0" joint="left_index_base_joint" class="left_base" />
+    <position name="left_ffa1" joint="left_index_proximal_joint" class="left_proximal" />
+    <position name="left_ffa2" joint="left_index_medial_joint" class="left_medial" />
+    <position name="left_ffa3" joint="left_index_distal_joint" class="left_distal" />
+    <position name="left_tha0" joint="left_thumb_base_joint" class="left_thumb_base" />
+    <position name="left_tha1" joint="left_thumb_proximal_joint" class="left_thumb_proximal" />
+    <position name="left_tha2" joint="left_thumb_medial_joint" class="left_thumb_medial" />
+    <position name="left_tha3" joint="left_thumb_distal_joint" class="left_thumb_distal" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/allegro/right.xml b/processed/hot3d/assets/robots/allegro/right.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a345707d9767e609dd96cff5aa9563b1e8eb7342
--- /dev/null
+++ b/processed/hot3d/assets/robots/allegro/right.xml
@@ -0,0 +1,336 @@
+<mujoco model="allegro_right">
+    <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+    <option timestep="0.01"
+        iterations="10" ls_iterations="50">
+        <flag eulerdamp="disable" />
+    </option>
+
+    <default>
+        <default class="mimic_right">
+            <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+        </default>
+        <default class="allegro_right">
+            <joint axis="0 1 0" armature="1.0" damping="0.0" />
+            <position kp="300" dampratio="1.0" />
+            <geom density="800" />
+
+            <default class="right_visual">
+                <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
+                <default class="right_palm_visual">
+                    <geom mesh="right_base_link" />
+                </default>
+                <default class="right_base_visual">
+                    <geom mesh="right_link_0.0" />
+                </default>
+                <default class="right_proximal_visual">
+                    <geom mesh="right_link_1.0" />
+                </default>
+                <default class="right_medial_visual">
+                    <geom mesh="right_link_2.0" />
+                </default>
+                <default class="right_distal_visual">
+                    <geom mesh="right_link_3.0" />
+                </default>
+                <default class="right_fingertip_visual">
+                    <geom pos="0 0 0.0267" material="right_white" mesh="right_link_3.0_tip" />
+                </default>
+                <default class="right_thumbtip_visual">
+                    <geom pos="0 0 0.0423" material="right_white" mesh="right_link_15.0_tip" />
+                </default>
+            </default>
+
+            <default class="right_collision">
+                <!-- disable all collisions, use explicit collision pairs -->
+                <geom group="3" type="box" mass="0" condim="1" contype="0" conaffinity="0" />
+                <default class="right_palm_collision">
+                    <geom size="0.0204 0.0565 0.0475" pos="-0.0093 0 -0.0475" />
+                </default>
+                <default class="right_base_collision">
+                    <geom size="0.0098 0.01375 0.0082" pos="0 0 0.0082" />
+                    <default class="right_thumb_base_collision">
+                        <geom size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145" />
+                    </default>
+                </default>
+                <default class="right_proximal_collision">
+                    <geom size="0.0098 0.01375 0.027" pos="0 0 0.027" />
+                    <default class="right_thumb_proximal_collision">
+                        <geom size="0.0098 0.01375 0.00885" pos="0 0 0.00885" />
+                    </default>
+                </default>
+                <default class="right_medial_collision">
+                    <geom size="0.0098 0.01375 0.0192" pos="0 0 0.0192" />
+                    <default class="right_thumb_medial_collision">
+                        <geom size="0.0098 0.01375 0.0257" pos="0 0 0.0257" />
+                    </default>
+                </default>
+                <default class="right_distal_collision">
+                    <geom size="0.0098 0.01375 0.008" pos="0 0 0.008" />
+                    <default class="right_thumb_distal_collision">
+                        <geom size="0.0098 0.01375 0.0157" pos="0 0 0.0157" />
+                    </default>
+                </default>
+                <default class="right_fingertip_collision">
+                    <geom type="capsule" size="0.012 0.01" pos="0 0 0.019" group="3" />
+                    <default class="right_thumbtip_collision">
+                        <geom type="capsule" size="0.012 0.008" pos="0 0 0.035" group="3" />
+                    </default>
+                </default>
+            </default>
+
+            <default class="right_base_slide">
+                <joint type="slide" axis="0 1 0" range="-3.0 3.0" />
+                <position kp="1000" ctrlrange="-3.0 3.0" />
+            </default>
+            <default class="right_base_hinge">
+                <joint axis="0 0 1" range="-6.28 6.28" />
+                <position kp="1000" ctrlrange="-6.28 6.28" />
+            </default>
+            <default class="right_base">
+                <joint axis="0 0 1" range="-0.47 0.47" />
+                <position ctrlrange="-0.47 0.47" />
+            </default>
+            <default class="right_proximal">
+                <!-- <joint range="-0.196 1.61" />
+                <position ctrlrange="-0.196 1.61" /> -->
+                <joint range="0.196 1.61" />
+                <position ctrlrange="0.196 1.61" />
+            </default>
+            <default class="right_medial">
+                <!-- <joint range="-0.174 1.709" />
+                <position ctrlrange="-0.174 1.709" /> -->
+                <joint range="0.174 1.709" />
+                <position ctrlrange="0.174 1.709" />
+            </default>
+            <default class="right_distal">
+                <!-- <joint range="-0.227 1.618" />
+                <position ctrlrange="-0.227 1.618" /> -->
+                <joint range="0.227 1.618" />
+                <position ctrlrange="0.227 1.618" />
+            </default>
+            <default class="right_thumb_base">
+                <!-- <joint axis="-1 0 0" range="0.263 1.396" />
+                <position ctrlrange="0.263 1.396" /> -->
+                <joint axis="-1 0 0" range="0.263 1.396" />
+                <position ctrlrange="0.263 1.396" />
+            </default>
+            <default class="right_thumb_proximal">
+                <!-- <joint axis="0 0 1" range="-0.105 1.163" />
+                <position ctrlrange="-0.105 1.163" /> -->
+                <joint axis="0 0 1" range="0.105 1.163" />
+                <position ctrlrange="0.105 1.163" />
+            </default>
+            <default class="right_thumb_medial">
+                <!-- <joint range="-0.189 1.644" />
+                <position ctrlrange="-0.189 1.644" /> -->
+                <joint range="0.189 1.644" />
+                <position ctrlrange="0.189 1.644" />
+            </default>
+            <default class="right_thumb_distal">
+                <!-- <joint range="-0.162 1.719" />
+                <position ctrlrange="-0.162 1.719" /> -->
+                <joint range="0.162 1.719" />
+                <position ctrlrange="0.162 1.719" />
+            </default>
+        </default>
+    </default>
+
+
+    <visual>
+        <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9" />
+        <rgba haze="0.15 0.25 0.35 1" />
+        <global azimuth="140" elevation="-20" />
+    </visual>
+
+    <asset>
+        <material name="right_black" rgba="0.2 0.2 0.2 1" />
+        <material name="right_white" rgba="0.9 0.9 0.9 1" />
+        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
+            height="3072" />
+        <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+            rgb2="1 1 1"
+            markrgb="1 1 1" width="300" height="300" />
+        <material name="right_groundplane" texture="right_groundplane" texuniform="true"
+            texrepeat="5 5"
+            reflectance="0.2" />
+
+        <mesh name="right_base_link" file="base_link.stl" />
+        <mesh name="right_link_0.0" file="link_0.0.stl" />
+        <mesh name="right_link_1.0" file="link_1.0.stl" />
+        <mesh name="right_link_2.0" file="link_2.0.stl" />
+        <mesh name="right_link_3.0" file="link_3.0.stl" />
+        <mesh name="right_link_3.0_tip" file="link_3.0_tip.stl" />
+        <mesh name="right_link_12.0_right" file="link_12.0_right.stl" />
+        <mesh name="right_link_13.0" file="link_13.0.stl" />
+        <mesh name="right_link_14.0" file="link_14.0.stl" />
+        <mesh name="right_link_15.0" file="link_15.0.stl" />
+        <mesh name="right_link_15.0_tip" file="link_15.0_tip.stl" />
+    </asset>
+
+    <worldbody>
+        <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+        <body name="right_palm" quat="0 0 1 -1" childclass="allegro_right" gravcomp="1">
+            <camera name="right_track" pos="0.868 -0.348 -0.175"
+                xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+            <!-- <inertial mass="0.4154" pos="0 0 0.0475" diaginertia="1e-4 1e-4 1e-4"/> -->
+            <site name="right_palm" pos="0 0 0" quat="1 0 0 0" class="mimic_right"
+                type="box"
+                size="0.01 0.02 0.03" />
+            <joint name="right_pos_x" axis="1 0 0" class="right_base_slide" />
+            <joint name="right_pos_y" axis="0 1 0" class="right_base_slide" />
+            <joint name="right_pos_z" axis="0 0 1" class="right_base_slide" />
+            <joint name="right_rot_x" axis="1 0 0" class="right_base_hinge" />
+            <joint name="right_rot_y" axis="0 1 0" class="right_base_hinge" />
+            <joint name="right_rot_z" axis="0 0 1" class="right_base_hinge" />
+            <geom class="right_palm_visual" mesh="right_base_link" />
+            <geom name="collision_hand_right_palm_0" class="right_palm_collision" />
+            <!-- First finger (index finger) -->
+            <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" />
+                <geom class="right_base_visual" />
+                <body name="right_ff_proximal" pos="0 0 0.0164">
+                    <joint name="right_index_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="collision_hand_right_index_2" class="right_proximal_collision" />
+                    <body name="right_ff_medial" pos="0 0 0.054">
+                        <joint name="right_index_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="collision_hand_right_index_1"
+                            class="right_medial_collision" />
+                        <body name="right_ff_distal" pos="0 0 0.0384">
+                            <joint name="right_index_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+                            <body name="right_ff_tip">
+                                <site name="right_index_tip" pos="0 0 0.019" class="mimic_right" />
+                                <site name="track_hand_right_index_tip" pos="0 0 0.019"
+                                    class="mimic_right" />
+                                <site name="trace_right_index_tip" pos="0 0 0.019"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="collision_hand_right_index_0"
+                                    class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Middle finger (middle finger) -->
+            <body name="right_mf_base" pos="0 0 0.0007">
+                <joint name="right_middle_base_joint" class="right_base" />
+                <geom class="right_base_visual" />
+                <body name="right_mf_proximal" pos="0 0 0.0164">
+                    <joint name="right_middle_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="collision_hand_right_middle_2" class="right_proximal_collision" />
+                    <body name="right_mf_medial" pos="0 0 0.054">
+                        <joint name="right_middle_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="collision_hand_right_middle_1"
+                            class="right_medial_collision" />
+                        <body name="right_mf_distal" pos="0 0 0.0384">
+                            <joint name="right_middle_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+                            <body name="right_mf_tip">
+                                <site name="right_middle_tip" pos="0 0 0.019" class="mimic_right" />
+                                <site name="track_hand_right_middle_tip" pos="0 0 0.019"
+                                    class="mimic_right" />
+                                <site name="trace_right_middle_tip" pos="0 0 0.019"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="collision_hand_right_middle_0"
+                                    class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Ring finger (ring finger) -->
+            <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" />
+                <geom class="right_base_visual" />
+                <body name="right_rf_proximal" pos="0 0 0.0164">
+                    <joint name="right_ring_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="collision_hand_right_ring_2" class="right_proximal_collision" />
+                    <body name="right_rf_medial" pos="0 0 0.054">
+                        <joint name="right_ring_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="collision_hand_right_ring_1"
+                            class="right_medial_collision" />
+                        <body name="right_rf_distal" pos="0 0 0.0384">
+                            <joint name="right_ring_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+                            <body name="right_rf_tip">
+                                <site name="right_ring_tip" pos="0 0 0.019" class="mimic_right" />
+                                <site name="track_hand_right_ring_tip" pos="0 0 0.019"
+                                    class="mimic_right" />
+                                <site name="trace_right_ring_tip" pos="0 0 0.019"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="collision_hand_right_ring_0"
+                                    class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Thumb (thumb) -->
+            <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" />
+                <geom class="right_visual" mesh="right_link_12.0_right" />
+                <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+                    <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" />
+                    <geom class="right_visual" mesh="right_link_13.0" />
+                    <body name="right_th_medial" pos="0 0 0.0177">
+                        <joint name="right_thumb_medial_joint" class="right_thumb_medial" />
+                        <geom class="right_visual" mesh="right_link_14.0" />
+                        <geom name="collision_hand_right_thumb_2"
+                            class="right_thumb_medial_collision" />
+                        <body name="right_th_distal" pos="0 0 0.0514">
+                            <joint name="right_thumb_distal_joint" class="right_thumb_distal" />
+                            <geom class="right_visual" mesh="right_link_15.0" />
+                            <geom name="collision_hand_right_thumb_1"
+                                class="right_thumb_distal_collision" />
+                            <body name="right_th_tip">
+                                <site name="right_thumb_tip" pos="0 0 0.035" class="mimic_right" />
+                                <site name="track_hand_right_thumb_tip" pos="0 0 0.035"
+                                    class="mimic_right" />
+                                <site name="trace_right_thumb_tip" pos="0 0 0.035"
+                                    class="mimic_right" />
+                                <geom class="right_thumbtip_visual" />
+                                <geom name="collision_hand_right_thumb_0"
+                                    class="right_thumbtip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+    <actuator>
+        <position name="right_pos_x" joint="right_pos_x" class="right_base_slide" />
+        <position name="right_pos_y" joint="right_pos_y" class="right_base_slide" />
+        <position name="right_pos_z" joint="right_pos_z" class="right_base_slide" />
+        <position name="right_rot_x" joint="right_rot_x" class="right_base_hinge" />
+        <position name="right_rot_y" joint="right_rot_y" class="right_base_hinge" />
+        <position name="right_rot_z" joint="right_rot_z" class="right_base_hinge" />
+        <position name="right_ffa0" joint="right_index_base_joint" class="right_base" />
+        <position name="right_ffa1" joint="right_index_proximal_joint" class="right_proximal" />
+        <position name="right_ffa2" joint="right_index_medial_joint" class="right_medial" />
+        <position name="right_ffa3" joint="right_index_distal_joint" class="right_distal" />
+        <position name="right_mfa0" joint="right_middle_base_joint" class="right_base" />
+        <position name="right_mfa1" joint="right_middle_proximal_joint" class="right_proximal" />
+        <position name="right_mfa2" joint="right_middle_medial_joint" class="right_medial" />
+        <position name="right_mfa3" joint="right_middle_distal_joint" class="right_distal" />
+        <position name="right_rfa0" joint="right_ring_base_joint" class="right_base" />
+        <position name="right_rfa1" joint="right_ring_proximal_joint" class="right_proximal" />
+        <position name="right_rfa2" joint="right_ring_medial_joint" class="right_medial" />
+        <position name="right_rfa3" joint="right_ring_distal_joint" class="right_distal" />
+        <position name="right_tha0" joint="right_thumb_base_joint" class="right_thumb_base" />
+        <position name="right_tha1" joint="right_thumb_proximal_joint" class="right_thumb_proximal" />
+        <position name="right_tha2" joint="right_thumb_medial_joint" class="right_thumb_medial" />
+        <position name="right_tha3" joint="right_thumb_distal_joint" class="right_thumb_distal" />
+    </actuator>
+</mujoco>
diff --git a/processed/hot3d/assets/robots/inspire/assets/L_hand_base_link.STL b/processed/hot3d/assets/robots/inspire/assets/L_hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..88d668d9b03e3a74577668bb7c073d3a415f27bd
--- /dev/null
+++ b/processed/hot3d/assets/robots/inspire/assets/L_hand_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ab4e97801bd5421903a78f5977a44e477ae8653eaf32358d35633e465411e0
+size 1448084
diff --git a/processed/hot3d/assets/robots/inspire/assets/L_hand_base_link.STL.convex.stl b/processed/hot3d/assets/robots/inspire/assets/L_hand_base_link.STL.convex.stl
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/hot3d/assets/robots/inspire/assets/Link11_L.STL b/processed/hot3d/assets/robots/inspire/assets/Link11_L.STL
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+        <mesh name="Link16_L" content_type="model/stl" file="Link16_L.STL" />
+        <mesh name="Link17_L" content_type="model/stl" file="Link17_L.STL" />
+        <mesh name="Link18_L" content_type="model/stl" file="Link18_L.STL" />
+        <mesh name="Link19_L" content_type="model/stl" file="Link19_L.STL" />
+        <mesh name="Link20_L" content_type="model/stl" file="Link20_L.STL" />
+        <mesh name="Link21_L" content_type="model/stl" file="Link21_L.STL" />
+        <mesh name="Link22_L" content_type="model/stl" file="Link22_L.STL" />
+    </asset>
+
+    <worldbody>
+        <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+        <body name="left_hand_base" pos="0 0 0.0" gravcomp="1">
+            <camera name="left_track" pos="0.868 -0.348 -0.175"
+                xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+            <site name="left_palm" pos="0 -0.06 0" type="box"
+                size="0.01 0.02 0.03" quat="0 0 -1 1" />
+            <joint name="left_pos_x" type="slide" pos="0 0 0" axis="1 0 0" range="-1.0 1.0" />
+            <joint name="left_pos_y" type="slide" pos="0 0 0" axis="0 1 0" range="-1.0 1.0" />
+            <joint name="left_pos_z" type="slide" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+            <!-- create rotation x, y, z joints -->
+            <joint name="left_rot_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+            <joint name="left_rot_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+            <joint name="left_rot_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+            <!-- add palm collision, use ellipsoid since mujoco mjx doesn't support box-cylinder
+            collision -->
+            <geom type="box" name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0"
+                contype="0" conaffinity="0" group="3" density="0" rgba="0 1 0 1" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+                mesh="L_hand_base_link" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link" />
+            <body name="left_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045"
+                quat="0.499998 0.5 -0.5 0.500002">
+                <inertial pos="0.0048817 0.00038782 -0.00722"
+                    quat="0.445981 0.352284 0.495833 0.656617"
+                    mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08" />
+                <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1"
+                    range="-0.1 1.3" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.1 0.1 0.1 1"
+                    mesh="Link11_L" />
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L" />
+                <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089"
+                    quat="0.704571 -0.704573 -0.0598169 0.0598167">
+                    <inertial pos="0.021936 -0.01279 -0.0080386"
+                        quat="0.25452 0.660687 -0.251949 0.659723"
+                        mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07" />
+                    <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1"
+                        range="0 0.5" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.1 0.1 0.1 1"
+                        mesh="Link12_L" />
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L" />
+                    <geom name="collision_hand_left_thumb_1" type="capsule"
+                        fromto="-0.003140 0.002501 -0.005 0.047924 -0.035228 -0.005"
+                        size="0.01" contype="0" conaffinity="0" group="3" density="0"
+                        rgba="0 1 0 1" />
+                    <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+                        <inertial pos="0.0095531 0.0016282 -0.0072002"
+                            quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844"
+                            diaginertia="4.6532e-07 4.48114e-07 2.45646e-07" />
+                        <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1"
+                            range="0 0.8" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                            rgba="0.1 0.1 0.1 1"
+                            mesh="Link13_L" />
+                        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L" />
+                        <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+                            <inertial pos="0.0092888 -0.004953 -0.0060033"
+                                quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344"
+                                diaginertia="2.0026e-07 1.95246e-07 8.1594e-08" />
+                            <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1"
+                                range="0 1.2" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                                rgba="0.1 0.1 0.1 1"
+                                mesh="Link14_L" />
+                            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L" />
+                            <!-- <geom name="collision_hand_left_thumb_0" type="capsule"
+                            size="0.005"
+                                fromto="0 0 0 0.0159104 -0.0156076 -0.00599021"
+                                contype="0" conaffinity="0"
+                                group="3" density="0" rgba="0 1 0 1" /> -->
+                            <geom name="collision_hand_left_thumb_0" type="capsule" size="0.005"
+                                fromto="-0.01 0.01 0 0.0159104 -0.0156076 -0.00599021"
+                                contype="0" conaffinity="0"
+                                group="3" density="0" rgba="0 1 0 1" />
+                            <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021" />
+                            <site name="track_hand_left_thumb_tip"
+                                pos="0.0159104 -0.0156076 -0.00599021" />
+                            <site name="trace_hand_left_thumb_tip"
+                                pos="0.0159104 -0.0156076 -0.00599021" />
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268"
+                quat="0.999848 -0.0174526 0 0">
+                <inertial pos="0.0012971 -0.011934 -0.0059998"
+                    quat="0.489677 0.510115 -0.489692 0.510099"
+                    mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+                <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.1 0.1 0.1 1"
+                    mesh="Link15_L" />
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L" />
+                <geom name="collision_hand_left_index_1" type="capsule"
+                    fromto="-0.000437 0.009413 -0.005 0.002139 -0.032175 -0.005"
+                    size="0.005" contype="0" conaffinity="0" group="3" density="0"
+                    rgba="0 1 0 1" />
+                <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                    <inertial pos="0.0021753 -0.019567 -0.005"
+                        quat="0.528694 0.469555 -0.528694 0.469555"
+                        mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08" />
+                    <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1"
+                        range="0 1.7" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.1 0.1 0.1 1"
+                        mesh="Link16_L" />
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L" />
+                    <geom name="collision_hand_left_index_0" type="capsule" size="0.005"
+                        fromto="0.005 -0.0 -0.005 -0.00412053 -0.0433132 -0.00501047"
+                        contype="0" conaffinity="0"
+                        group="3" density="0" rgba="0 1 0 1" />
+                    <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047" />
+                    <site name="track_hand_left_index_tip"
+                        pos="-0.00412053 -0.0433132 -0.00501047" />
+                    <site name="trace_hand_left_index_tip"
+                        pos="-0.00412053 -0.0433132 -0.00501047" />
+                </body>
+            </body>
+            <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+                <inertial pos="0.0012971 -0.011934 -0.0059999"
+                    quat="0.489677 0.510115 -0.489692 0.510099"
+                    mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+                <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.1 0.1 0.1 1"
+                    mesh="Link17_L" />
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L" />
+                <geom name="collision_hand_left_middle_1" type="capsule"
+                    fromto="-0.000437 0.009413 -0.005 0.002139 -0.032175 -0.005"
+                    size="0.005" contype="0" conaffinity="0" group="3" density="0"
+                    rgba="0 1 0 1" />
+                <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                    <inertial pos="0.001921 -0.020796 -0.0049999"
+                        quat="0.531603 0.466115 -0.531728 0.466262"
+                        mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08" />
+                    <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1"
+                        range="0 1.7" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.1 0.1 0.1 1"
+                        mesh="Link18_L" />
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L" />
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.005"
+                        fromto="0.005 -0.0 -0.005 -0.00426879 -0.0466043 -0.00498678"
+                        contype="0" conaffinity="0"
+                        group="3" density="0" rgba="0 1 0 1" />
+                    <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678" />
+                    <site name="track_hand_left_middle_tip"
+                        pos="-0.00426879 -0.0466043 -0.00498678" />
+                    <site name="trace_hand_left_middle_tip"
+                        pos="-0.00426879 -0.0466043 -0.00498678" />
+                </body>
+            </body>
+            <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872"
+                quat="0.999657 0.026177 0 0">
+                <inertial pos="0.0012971 -0.011934 -0.0059999"
+                    quat="0.489677 0.510114 -0.489692 0.510099"
+                    mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+                <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.1 0.1 0.1 1"
+                    mesh="Link19_L" />
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L" />
+                <geom name="collision_hand_left_ring_1" type="capsule"
+                    fromto="-0.000437 0.009413 -0.005 0.002139 -0.032175 -0.005"
+                    size="0.005" contype="0" conaffinity="0" group="3" density="0"
+                    rgba="0 1 0 1" />
+                <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                    <inertial pos="0.0021753 -0.019567 -0.005"
+                        quat="0.528694 0.469556 -0.528694 0.469556"
+                        mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08" />
+                    <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1"
+                        range="0 1.7" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.1 0.1 0.1 1"
+                        mesh="Link20_L" />
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L" />
+                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.005"
+                        fromto="0.005 -0.0 -0.005 -0.00366554 -0.0433541 -0.00501047"
+                        contype="0" conaffinity="0"
+                        group="3" density="0" rgba="0 1 0 1" />
+                    <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047" />
+                    <site name="track_hand_left_ring_tip"
+                        pos="-0.00366554 -0.0433541 -0.00501047" />
+                    <site name="trace_hand_left_ring_tip"
+                        pos="-0.00366554 -0.0433541 -0.00501047" />
+                </body>
+            </body>
+            <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488"
+                quat="0.99863 0.0523361 0 0">
+                <inertial pos="0.0012971 -0.011934 -0.0059999"
+                    quat="0.489677 0.510114 -0.489692 0.510099"
+                    mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07" />
+                <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                    rgba="0.1 0.1 0.1 1"
+                    mesh="Link21_L" />
+                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L" />
+                <geom name="collision_hand_left_pinky_1" type="capsule"
+                    fromto="-0.000437 0.009413 -0.005 0.002139 -0.032175 -0.005"
+                    size="0.005" contype="0" conaffinity="0" group="3" density="0"
+                    rgba="0 1 0 1" />
+                <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+                    <inertial pos="0.0024788 -0.016208 -0.0050001"
+                        quat="0.526797 0.471683 -0.526793 0.471687"
+                        mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08" />
+                    <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1"
+                        range="0 1.7" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                        rgba="0.1 0.1 0.1 1"
+                        mesh="Link22_L" />
+                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L" />
+                    <!-- <geom name="left_pinky_collision" size="0.005"
+                        pos="-0.00260734 -0.0362776 -0.00501047"
+                        contype="0" conaffinity="0"
+                        group="3" density="0" rgba="0 1 0 1" /> -->
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.005"
+                        fromto="0.004 0.0 -0.005 -0.00260734 -0.0362776 -0.00501047"
+                        contype="0" conaffinity="0"
+                        group="3" density="0" rgba="0 1 0 1" />
+                    <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047" />
+                    <site name="track_hand_left_pinky_tip"
+                        pos="-0.00260734 -0.0362776 -0.00501047" />
+                    <site name="trace_hand_left_pinky_tip"
+                        pos="-0.00260734 -0.0362776 -0.00501047" />
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+    <actuator>
+        <!-- Global position and rotation joints -->
+        <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 joints -->
+        <position name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" />
+        <position name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" />
+        <position name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" />
+        <position name="left_thumb_distal_position" joint="left_thumb_distal_joint" />
+
+        <!-- Index joints -->
+        <position name="left_index_proximal_position" joint="left_index_proximal_joint" />
+        <position name="left_index_intermediate_position" joint="left_index_intermediate_joint" />
+
+        <!-- Middle joints -->
+        <position name="left_middle_proximal_position" joint="left_middle_proximal_joint" />
+        <position name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" />
+
+        <!-- Ring joints -->
+        <position name="left_ring_proximal_position" joint="left_ring_proximal_joint" />
+        <position name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" />
+
+        <!-- Pinky joints -->
+        <position name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" />
+        <position name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" />
+
+    </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/inspire/right.xml b/processed/hot3d/assets/robots/inspire/right.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7297049881aedc890d01d270a7f3c747d443a865
--- /dev/null
+++ b/processed/hot3d/assets/robots/inspire/right.xml
@@ -0,0 +1,290 @@
+<mujoco model="inpisre">
+  <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+  <option timestep="0.01"
+    iterations="10" ls_iterations="50">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+  </default>
+
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9" />
+    <rgba haze="0.15 0.25 0.35 1" />
+    <global azimuth="140" elevation="-20" />
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512"
+      height="3072" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1"
+      markrgb="1 1 1" width="300" height="300" />
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="1" />
+    <mesh name="R_hand_base_link" content_type="model/stl" file="R_hand_base_link.STL" />
+    <mesh name="Link11_R" content_type="model/stl" file="Link11_R.STL" />
+    <mesh name="Link12_R" content_type="model/stl" file="Link12_R.STL" />
+    <mesh name="Link13_R" content_type="model/stl" file="Link13_R.STL" />
+    <mesh name="Link14_R" content_type="model/stl" file="Link14_R.STL" />
+    <mesh name="Link15_R" content_type="model/stl" file="Link15_R.STL" />
+    <mesh name="Link16_R" content_type="model/stl" file="Link16_R.STL" />
+    <mesh name="Link17_R" content_type="model/stl" file="Link17_R.STL" />
+    <mesh name="Link18_R" content_type="model/stl" file="Link18_R.STL" />
+    <mesh name="Link19_R" content_type="model/stl" file="Link19_R.STL" />
+    <mesh name="Link20_R" content_type="model/stl" file="Link20_R.STL" />
+    <mesh name="Link21_R" content_type="model/stl" file="Link21_R.STL" />
+    <mesh name="Link22_R" content_type="model/stl" file="Link22_R.STL" />
+  </asset>
+
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+    <body name="right_hand_base" pos="0 0 0.0" gravcomp="1">
+      <camera name="right_track" pos="0.868 -0.348 -0.175"
+        xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+      <site name="right_palm" pos="0 -0.06 0" type="box"
+        size="0.01 0.02 0.03" quat="0 0 -1 1" />
+      <joint name="right_pos_x" type="slide" pos="0 0 0" axis="1 0 0" range="-1.0 1.0" />
+      <joint name="right_pos_y" type="slide" pos="0 0 0" axis="0 1 0" range="-1.0 1.0" />
+      <joint name="right_pos_z" type="slide" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" />
+      <!-- create rotation x, y, z joints -->
+      <joint name="right_rot_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-6.28 6.28" />
+      <joint name="right_rot_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-6.28 6.28" />
+      <joint name="right_rot_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-6.28 6.28" />
+      <!-- add palm collision, use ellipsoid since mujoco mjx doesn't support box-cylinder
+            collision -->
+      <geom type="box" name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0"
+        contype="0" conaffinity="0" group="3" density="0" rgba="0 1 0 1" />
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+        mesh="R_hand_base_link" />
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link" />
+      <body name="right_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045"
+        quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596"
+          mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08" />
+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+          mesh="Link11_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R" />
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925"
+          quat="0.0996843 0.0996847 0.700046 0.700044">
+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733"
+            mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07" />
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+            mesh="Link12_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R" />
+          <geom name="collision_hand_right_thumb_1" type="capsule"
+            fromto="-0.003140 -0.002501 -0.005 0.047924 0.035228 -0.005"
+            size="0.01" contype="0" conaffinity="0" group="3" density="0"
+            rgba="0 1 0 1" />
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997"
+              quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847"
+              diaginertia="4.6531e-07 4.48089e-07 2.45661e-07" />
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+              mesh="Link13_R" />
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R" />
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033"
+                quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441"
+                diaginertia="2.0026e-07 1.95247e-07 8.1593e-08" />
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+                rgba="0.1 0.1 0.1 1"
+                mesh="Link14_R" />
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R" />
+              <!-- <geom name="collision_hand_right_thumb_0" type="capsule"
+              size="0.005"
+                  fromto="0 0 0 0.0159104 0.0156076 -0.00599021"
+                  contype="0" conaffinity="0"
+                  group="3" density="0" rgba="0 1 0 1" /> -->
+              <geom name="collision_hand_right_thumb_0" type="capsule" size="0.005"
+                fromto="-0.01 -0.01 0 0.0159104 0.0156076 -0.00599021"
+                contype="0" conaffinity="0"
+                group="3" density="0" rgba="0 1 0 1" />
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="track_hand_right_thumb_tip"
+                pos="0.0159104 0.0156076 -0.00599021" />
+              <site name="trace_hand_right_thumb_tip"
+                pos="0.0159104 0.0156076 -0.00599021" />
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268"
+        quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172"
+          mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07" />
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+          mesh="Link15_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R" />
+        <geom name="collision_hand_right_index_1" type="capsule"
+          fromto="-0.000437 -0.009413 -0.005 0.002139 0.032175 -0.005"
+          size="0.005" contype="0" conaffinity="0" group="3" density="0"
+          rgba="0 1 0 1" />
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153"
+            mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08" />
+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+            mesh="Link16_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R" />
+          <geom name="collision_hand_right_index_0" type="capsule" size="0.005"
+            fromto="0.005 -0.0 -0.005 -0.00412053 0.0433132 -0.00501047"
+            contype="0" conaffinity="0"
+            group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="track_hand_right_index_tip"
+            pos="-0.00412053 0.0433132 -0.00501047" />
+          <site name="trace_hand_right_index_tip"
+            pos="-0.00412053 0.0433132 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295"
+        quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653"
+          mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+          mesh="Link17_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R" />
+        <geom name="collision_hand_right_middle_1" type="capsule"
+          fromto="-0.000437 -0.009413 -0.005 0.002139 0.032175 -0.005"
+          size="0.005" contype="0" conaffinity="0" group="3" density="0"
+          rgba="0 1 0 1" />
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705"
+            mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08" />
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+            mesh="Link18_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R" />
+          <geom name="collision_hand_right_middle_0" type="capsule" size="0.005"
+            fromto="0.005 -0.0 -0.005 -0.00426879 0.0466043 -0.00498678"
+            contype="0" conaffinity="0"
+            group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="track_hand_right_middle_tip"
+            pos="-0.00426879 0.0466043 -0.00498678" />
+          <site name="trace_hand_right_middle_tip"
+            pos="-0.00426879 0.0466043 -0.00498678" />
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872"
+        quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654"
+          mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+          mesh="Link19_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R" />
+        <geom name="collision_hand_right_ring_1" type="capsule"
+          fromto="-0.000437 -0.009413 -0.005 0.002139 0.032175 -0.005"
+          size="0.005" contype="0" conaffinity="0" group="3" density="0"
+          rgba="0 1 0 1" />
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695"
+            mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08" />
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+            mesh="Link20_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R" />
+          <geom name="collision_hand_right_ring_0" type="capsule" size="0.005"
+            fromto="0.005 -0.0 -0.005 -0.00366554 0.0433541 -0.00501047"
+            contype="0" conaffinity="0"
+            group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="track_hand_right_ring_tip"
+            pos="-0.00366554 0.0433541 -0.00501047" />
+          <site name="trace_hand_right_ring_tip"
+            pos="-0.00366554 0.0433541 -0.00501047" />
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488"
+        quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653"
+          mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07" />
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+          mesh="Link21_R" />
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R" />
+        <geom name="collision_hand_right_pinky_1" type="capsule"
+          fromto="-0.000437 -0.009413 -0.005 0.002139 0.032175 -0.005"
+          size="0.005" contype="0" conaffinity="0" group="3" density="0"
+          rgba="0 1 0 1" />
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799"
+            mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08" />
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1"
+            mesh="Link22_R" />
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R" />
+          <!-- <geom name="right_pinky_collision" size="0.005"
+            pos="-0.00260734 0.0362776 -0.00501047"
+            contype="0" conaffinity="0"
+            group="3" density="0" rgba="0 1 0 1" /> -->
+          <geom name="collision_hand_right_pinky_0" type="capsule" size="0.005"
+            fromto="0.004 -0.0 -0.005 -0.00260734 0.0362776 -0.00501047"
+            contype="0" conaffinity="0"
+            group="3" density="0" rgba="0 1 0 1" />
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="track_hand_right_pinky_tip"
+            pos="-0.00260734 0.0362776 -0.00501047" />
+          <site name="trace_hand_right_pinky_tip"
+            pos="-0.00260734 0.0362776 -0.00501047" />
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <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 joints -->
+    <position name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" />
+    <position name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" />
+    <position name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" />
+    <position name="right_thumb_distal_position" joint="right_thumb_distal_joint" />
+
+
+    <!-- Index joints -->
+    <position name="right_index_proximal_position" joint="right_index_proximal_joint" />
+    <position name="right_index_intermediate_position" joint="right_index_intermediate_joint" />
+
+
+    <!-- Middle joints -->
+    <position name="right_middle_proximal_position" joint="right_middle_proximal_joint" />
+    <position name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" />
+
+
+    <!-- Ring joints -->
+    <position name="right_ring_proximal_position" joint="right_ring_proximal_joint" />
+    <position name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" />
+
+
+    <!-- Pinky joints -->
+    <position name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" />
+    <position name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" />
+
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/assets/robots/mano/MJMODEL.TXT b/processed/hot3d/assets/robots/mano/MJMODEL.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..b18e800d0d765be8caf4aad118a542d780a5f1ae
--- /dev/null
+++ b/processed/hot3d/assets/robots/mano/MJMODEL.TXT
@@ -0,0 +1,22066 @@
+MuJoCo version 3.3.5
+model name     bimanual
+
+MEMORY
+  total          11.1 MB
+  meshes        326.7 KB
+  textures        9.5 MB
+
+SIZES
+  nq                  56
+  nv                  56
+  nu                  56
+  nbody               47
+  nbvh                13472
+  nbvhstatic          13472
+  njnt                56
+  ngeom               64
+  nsite               32
+  ncam                2
+  nmesh               64
+  nmeshvert           3786
+  nmeshnormal         3786
+  nmeshface           6768
+  nmeshpoly           6716
+  nmeshpolyvert       20200
+  nmeshpolymap        20200
+  ntex                4
+  ntexdata            9977184
+  nmat                2
+  nnames              5595
+  npaths              1944
+  nnames_map          654
+  nM                  428
+  nB                  576
+  nC                  428
+  nD                  800
+  nJmom               56
+  ntree               2
+  ngravcomp           2
+  njmax               -1
+  nconmax             -1
+  narena              16777216
+  nbuffer             11686488
+
+OPTION
+  timestep            0.002   
+  apirate             1e+02   
+  impratio            1       
+  tolerance           1e-08   
+  ls_tolerance        0.01    
+  noslip_tolerance    1e-06   
+  ccd_tolerance       1e-06   
+  density             0       
+  viscosity           0       
+  o_margin            0       
+  integrator          0
+  cone                0
+  jacobian            2
+  solver              2
+  iterations          100
+  ls_iterations       50
+  noslip_iterations   0
+  ccd_iterations      50
+  disableflags        0
+  enableflags         0
+  disableactuator     0
+  sdf_initpoints      40
+  sdf_iterations      10
+  gravity             0         0        -9.8      
+  wind                0         0         0        
+  magnetic            0        -0.5       0        
+  o_solref            0.02      1        
+  o_solimp            0.9       0.95      0.001     0.5       2        
+  o_friction          1         1         0.005     0.0001    0.0001   
+
+totalmass             0.98    
+
+STATISTIC
+  meaninertia         1.1     
+  meanmass            0.021   
+  meansize            0.027   
+  extent              0.36    
+  center              0       -0.0025   0.0064  
+
+qpos0                 0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0        
+
+qpos_spring           0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0        
+
+
+BODY 0:
+  name                  world
+  body_parentid         0 
+  body_rootid           0 
+  body_weldid           0 
+  body_mocapid          -1 
+  body_jntnum           0 
+  body_jntadr           -1 
+  body_dofnum           0 
+  body_dofadr           -1 
+  body_treeid           -1 
+  body_geomnum          0 
+  body_geomadr          -1 
+  body_simple           1 
+  body_sameframe        1 
+  body_pos              0         0         0        
+  body_quat             1         0         0         0        
+  body_ipos             0         0         0        
+  body_iquat            1         0         0         0        
+  body_mass             0        
+  body_subtreemass      0.98     
+  body_inertia          0         0         0        
+  body_invweight0       0         0        
+  body_gravcomp         0        
+  body_margin           0        
+  body_plugin           -1 
+  body_contype          0 
+  body_conaffinity      0 
+  body_bvhadr           -1 
+  body_bvhnum           0 
+
+BODY 1:
+  name                  right_palm
+  body_parentid         0 
+  body_rootid           1 
+  body_weldid           1 
+  body_mocapid          -1 
+  body_jntnum           6 
+  body_jntadr           0 
+  body_dofnum           6 
+  body_dofadr           0 
+  body_treeid           0 
+  body_geomnum          2 
+  body_geomadr          0 
+  body_simple           0 
+  body_sameframe        0 
+  body_pos              0         0         0        
+  body_quat             1         0         0         0        
+  body_ipos            -0.04      0         0        
+  body_iquat            0         0.71      0         0.71     
+  body_mass             0.051    
+  body_subtreemass      0.49     
+  body_inertia          3.4e-05   2.9e-05   8.5e-06  
+  body_invweight0       0.67      1        
+  body_gravcomp         1        
+  body_margin           0        
+  body_plugin           -1 
+  body_contype          0 
+  body_conaffinity      0 
+  body_bvhadr           -1 
+  body_bvhnum           0 
+
+BODY 2:
+  name                  right_index1y
+  body_parentid         1 
+  body_rootid           1 
+  body_weldid           2 
+  body_mocapid          -1 
+  body_jntnum           1 
+  body_jntadr           6 
+  body_dofnum           1 
+  body_dofadr           6 
+  body_treeid           0 
+  body_geomnum          0 
+  body_geomadr          -1 
+  body_simple           0 
+  body_sameframe        1 
+  body_pos             -0.088    -0.0052    0.021    
+  body_quat             0.99      0.0033    0.12      0.029    
+  body_ipos             0         0         0        
+  body_iquat            1         0         0         0        
+  body_mass             0.02     
+  body_subtreemass      0.08     
+  body_inertia          1.7e-06   1.7e-06   1.7e-06  
+  body_invweight0       0.67      1.3      
+  body_gravcomp         0        
+  body_margin           0        
+  body_plugin           -1 
+  body_contype          0 
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+BODY 18:
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+BODY 23:
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+BODY 24:
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+  body_quat             1         0         0         0        
+  body_ipos             0         0         0        
+  body_iquat            1         0         0         0        
+  body_mass             0.02     
+  body_subtreemass      0.04     
+  body_inertia          1.7e-06   1.7e-06   1.7e-06  
+  body_invweight0       0.67      2.7      
+  body_gravcomp         0        
+  body_margin           0        
+  body_plugin           -1 
+  body_contype          0 
+  body_conaffinity      0 
+  body_bvhadr           -1 
+  body_bvhnum           0 
+
+BODY 46:
+  name                  left_thumb3
+  body_parentid         45 
+  body_rootid           24 
+  body_weldid           46 
+  body_mocapid          -1 
+  body_jntnum           1 
+  body_jntadr           55 
+  body_dofnum           1 
+  body_dofadr           55 
+  body_treeid           1 
+  body_geomnum          2 
+  body_geomadr          62 
+  body_simple           0 
+  body_sameframe        1 
+  body_pos              0.025    -0.01      0.0005   
+  body_quat             0.98      0.00092  -0.0097   -0.19     
+  body_ipos             0         0         0        
+  body_iquat            1         0         0         0        
+  body_mass             0.02     
+  body_subtreemass      0.02     
+  body_inertia          1.7e-06   1.7e-06   1.7e-06  
+  body_invweight0       0.68      3        
+  body_gravcomp         0        
+  body_margin           0        
+  body_plugin           -1 
+  body_contype          0 
+  body_conaffinity      0 
+  body_bvhadr           -1 
+  body_bvhnum           0 
+
+
+JOINT 0:
+  name                  right_pos_x
+  jnt_type              2 
+  jnt_qposadr           0 
+  jnt_dofadr            0 
+  jnt_bodyid            1 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              1         0         0        
+  jnt_stiffness         0        
+  jnt_range            -3         3        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 1:
+  name                  right_pos_y
+  jnt_type              2 
+  jnt_qposadr           1 
+  jnt_dofadr            1 
+  jnt_bodyid            1 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -3         3        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 2:
+  name                  right_pos_z
+  jnt_type              2 
+  jnt_qposadr           2 
+  jnt_dofadr            2 
+  jnt_bodyid            1 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range            -3         3        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 3:
+  name                  right_rot_x
+  jnt_type              3 
+  jnt_qposadr           3 
+  jnt_dofadr            3 
+  jnt_bodyid            1 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              1         0         0        
+  jnt_stiffness         0        
+  jnt_range            -6.3       6.3      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 4:
+  name                  right_rot_y
+  jnt_type              3 
+  jnt_qposadr           4 
+  jnt_dofadr            4 
+  jnt_bodyid            1 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -6.3       6.3      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 5:
+  name                  right_rot_z
+  jnt_type              3 
+  jnt_qposadr           5 
+  jnt_dofadr            5 
+  jnt_bodyid            1 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range            -6.3       6.3      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 6:
+  name                  right_j_index1y
+  jnt_type              3 
+  jnt_qposadr           6 
+  jnt_dofadr            6 
+  jnt_bodyid            2 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 7:
+  name                  right_j_index1z
+  jnt_type              3 
+  jnt_qposadr           7 
+  jnt_dofadr            7 
+  jnt_bodyid            3 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 8:
+  name                  right_j_index2
+  jnt_type              3 
+  jnt_qposadr           8 
+  jnt_dofadr            8 
+  jnt_bodyid            4 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 9:
+  name                  right_j_index3
+  jnt_type              3 
+  jnt_qposadr           9 
+  jnt_dofadr            9 
+  jnt_bodyid            5 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 10:
+  name                  right_j_middle1y
+  jnt_type              3 
+  jnt_qposadr           10 
+  jnt_dofadr            10 
+  jnt_bodyid            6 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 11:
+  name                  right_j_middle1z
+  jnt_type              3 
+  jnt_qposadr           11 
+  jnt_dofadr            11 
+  jnt_bodyid            7 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 12:
+  name                  right_j_middle2
+  jnt_type              3 
+  jnt_qposadr           12 
+  jnt_dofadr            12 
+  jnt_bodyid            8 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 13:
+  name                  right_j_middle3
+  jnt_type              3 
+  jnt_qposadr           13 
+  jnt_dofadr            13 
+  jnt_bodyid            9 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 14:
+  name                  right_j_pinky1y
+  jnt_type              3 
+  jnt_qposadr           14 
+  jnt_dofadr            14 
+  jnt_bodyid            10 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 15:
+  name                  right_j_pinky1z
+  jnt_type              3 
+  jnt_qposadr           15 
+  jnt_dofadr            15 
+  jnt_bodyid            11 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 16:
+  name                  right_j_pinky2
+  jnt_type              3 
+  jnt_qposadr           16 
+  jnt_dofadr            16 
+  jnt_bodyid            12 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 17:
+  name                  right_j_pinky3
+  jnt_type              3 
+  jnt_qposadr           17 
+  jnt_dofadr            17 
+  jnt_bodyid            13 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 18:
+  name                  right_j_ring1y
+  jnt_type              3 
+  jnt_qposadr           18 
+  jnt_dofadr            18 
+  jnt_bodyid            14 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 19:
+  name                  right_j_ring1z
+  jnt_type              3 
+  jnt_qposadr           19 
+  jnt_dofadr            19 
+  jnt_bodyid            15 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 20:
+  name                  right_j_ring2
+  jnt_type              3 
+  jnt_qposadr           20 
+  jnt_dofadr            20 
+  jnt_bodyid            16 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 21:
+  name                  right_j_ring3
+  jnt_type              3 
+  jnt_qposadr           21 
+  jnt_dofadr            21 
+  jnt_bodyid            17 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 22:
+  name                  right_j_thumb1x
+  jnt_type              3 
+  jnt_qposadr           22 
+  jnt_dofadr            22 
+  jnt_bodyid            18 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              1         0         0        
+  jnt_stiffness         0        
+  jnt_range             0         1        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 23:
+  name                  right_j_thumb1y
+  jnt_type              3 
+  jnt_qposadr           23 
+  jnt_dofadr            23 
+  jnt_bodyid            19 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.26      1        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 24:
+  name                  right_j_thumb1z
+  jnt_type              3 
+  jnt_qposadr           24 
+  jnt_dofadr            24 
+  jnt_bodyid            20 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range            -1         1        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 25:
+  name                  right_j_thumb2y
+  jnt_type              3 
+  jnt_qposadr           25 
+  jnt_dofadr            25 
+  jnt_bodyid            21 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 26:
+  name                  right_j_thumb2z
+  jnt_type              3 
+  jnt_qposadr           26 
+  jnt_dofadr            26 
+  jnt_bodyid            22 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 27:
+  name                  right_j_thumb3
+  jnt_type              3 
+  jnt_qposadr           27 
+  jnt_dofadr            27 
+  jnt_bodyid            23 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 28:
+  name                  left_pos_x
+  jnt_type              2 
+  jnt_qposadr           28 
+  jnt_dofadr            28 
+  jnt_bodyid            24 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              1         0         0        
+  jnt_stiffness         0        
+  jnt_range            -3         3        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 29:
+  name                  left_pos_y
+  jnt_type              2 
+  jnt_qposadr           29 
+  jnt_dofadr            29 
+  jnt_bodyid            24 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -3         3        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 30:
+  name                  left_pos_z
+  jnt_type              2 
+  jnt_qposadr           30 
+  jnt_dofadr            30 
+  jnt_bodyid            24 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range            -3         3        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 31:
+  name                  left_rot_x
+  jnt_type              3 
+  jnt_qposadr           31 
+  jnt_dofadr            31 
+  jnt_bodyid            24 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              1         0         0        
+  jnt_stiffness         0        
+  jnt_range            -6.3       6.3      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 32:
+  name                  left_rot_y
+  jnt_type              3 
+  jnt_qposadr           32 
+  jnt_dofadr            32 
+  jnt_bodyid            24 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         1         0        
+  jnt_stiffness         0        
+  jnt_range            -6.3       6.3      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 33:
+  name                  left_rot_z
+  jnt_type              3 
+  jnt_qposadr           33 
+  jnt_dofadr            33 
+  jnt_bodyid            24 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0         1        
+  jnt_stiffness         0        
+  jnt_range            -6.3       6.3      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 34:
+  name                  left_j_index1y
+  jnt_type              3 
+  jnt_qposadr           34 
+  jnt_dofadr            34 
+  jnt_bodyid            25 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0        -1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 35:
+  name                  left_j_index1z
+  jnt_type              3 
+  jnt_qposadr           35 
+  jnt_dofadr            35 
+  jnt_bodyid            26 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 36:
+  name                  left_j_index2
+  jnt_type              3 
+  jnt_qposadr           36 
+  jnt_dofadr            36 
+  jnt_bodyid            27 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 37:
+  name                  left_j_index3
+  jnt_type              3 
+  jnt_qposadr           37 
+  jnt_dofadr            37 
+  jnt_bodyid            28 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 38:
+  name                  left_j_middle1y
+  jnt_type              3 
+  jnt_qposadr           38 
+  jnt_dofadr            38 
+  jnt_bodyid            29 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0        -1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 39:
+  name                  left_j_middle1z
+  jnt_type              3 
+  jnt_qposadr           39 
+  jnt_dofadr            39 
+  jnt_bodyid            30 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 40:
+  name                  left_j_middle2
+  jnt_type              3 
+  jnt_qposadr           40 
+  jnt_dofadr            40 
+  jnt_bodyid            31 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 41:
+  name                  left_j_middle3
+  jnt_type              3 
+  jnt_qposadr           41 
+  jnt_dofadr            41 
+  jnt_bodyid            32 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 42:
+  name                  left_j_pinky1y
+  jnt_type              3 
+  jnt_qposadr           42 
+  jnt_dofadr            42 
+  jnt_bodyid            33 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0        -1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 43:
+  name                  left_j_pinky1z
+  jnt_type              3 
+  jnt_qposadr           43 
+  jnt_dofadr            43 
+  jnt_bodyid            34 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 44:
+  name                  left_j_pinky2
+  jnt_type              3 
+  jnt_qposadr           44 
+  jnt_dofadr            44 
+  jnt_bodyid            35 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 45:
+  name                  left_j_pinky3
+  jnt_type              3 
+  jnt_qposadr           45 
+  jnt_dofadr            45 
+  jnt_bodyid            36 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 46:
+  name                  left_j_ring1y
+  jnt_type              3 
+  jnt_qposadr           46 
+  jnt_dofadr            46 
+  jnt_bodyid            37 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0        -1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 47:
+  name                  left_j_ring1z
+  jnt_type              3 
+  jnt_qposadr           47 
+  jnt_dofadr            47 
+  jnt_bodyid            38 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 48:
+  name                  left_j_ring2
+  jnt_type              3 
+  jnt_qposadr           48 
+  jnt_dofadr            48 
+  jnt_bodyid            39 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.7      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 49:
+  name                  left_j_ring3
+  jnt_type              3 
+  jnt_qposadr           49 
+  jnt_dofadr            49 
+  jnt_bodyid            40 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 50:
+  name                  left_j_thumb1x
+  jnt_type              3 
+  jnt_qposadr           50 
+  jnt_dofadr            50 
+  jnt_bodyid            41 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              1         0         0        
+  jnt_stiffness         0        
+  jnt_range             0         1        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 51:
+  name                  left_j_thumb1y
+  jnt_type              3 
+  jnt_qposadr           51 
+  jnt_dofadr            51 
+  jnt_bodyid            42 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0        -1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.26      1        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 52:
+  name                  left_j_thumb1z
+  jnt_type              3 
+  jnt_qposadr           52 
+  jnt_dofadr            52 
+  jnt_bodyid            43 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range            -1         1        
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 53:
+  name                  left_j_thumb2y
+  jnt_type              3 
+  jnt_qposadr           53 
+  jnt_dofadr            53 
+  jnt_bodyid            44 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0        -1         0        
+  jnt_stiffness         0        
+  jnt_range            -0.17      0.17     
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 54:
+  name                  left_j_thumb2z
+  jnt_type              3 
+  jnt_qposadr           54 
+  jnt_dofadr            54 
+  jnt_bodyid            45 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.6      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+JOINT 55:
+  name                  left_j_thumb3
+  jnt_type              3 
+  jnt_qposadr           55 
+  jnt_dofadr            55 
+  jnt_bodyid            46 
+  jnt_group             0 
+  jnt_limited           1 
+  jnt_actfrclimited     0 
+  jnt_actgravcomp       0 
+  jnt_solref            0.02      1        
+  jnt_solimp            0.9       0.95      0.001     0.5       2        
+  jnt_pos               0         0         0        
+  jnt_axis              0         0        -1        
+  jnt_stiffness         0        
+  jnt_range             0         1.4      
+  jnt_actfrcrange       0         0        
+  jnt_margin            0        
+
+
+DOF 0:
+  dof_bodyid            1 
+  dof_jntid             0 
+  dof_parentid          -1 
+  dof_treeid            0 
+  dof_Madr              0 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        0.67     
+  dof_M0                1.5      
+
+DOF 1:
+  dof_bodyid            1 
+  dof_jntid             1 
+  dof_parentid          0 
+  dof_treeid            0 
+  dof_Madr              1 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        0.67     
+  dof_M0                1.5      
+
+DOF 2:
+  dof_bodyid            1 
+  dof_jntid             2 
+  dof_parentid          1 
+  dof_treeid            0 
+  dof_Madr              3 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        0.67     
+  dof_M0                1.5      
+
+DOF 3:
+  dof_bodyid            1 
+  dof_jntid             3 
+  dof_parentid          2 
+  dof_treeid            0 
+  dof_Madr              6 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 4:
+  dof_bodyid            1 
+  dof_jntid             4 
+  dof_parentid          3 
+  dof_treeid            0 
+  dof_Madr              10 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 5:
+  dof_bodyid            1 
+  dof_jntid             5 
+  dof_parentid          4 
+  dof_treeid            0 
+  dof_Madr              15 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 6:
+  dof_bodyid            2 
+  dof_jntid             6 
+  dof_parentid          5 
+  dof_treeid            0 
+  dof_Madr              21 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 7:
+  dof_bodyid            3 
+  dof_jntid             7 
+  dof_parentid          6 
+  dof_treeid            0 
+  dof_Madr              28 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 8:
+  dof_bodyid            4 
+  dof_jntid             8 
+  dof_parentid          7 
+  dof_treeid            0 
+  dof_Madr              36 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 9:
+  dof_bodyid            5 
+  dof_jntid             9 
+  dof_parentid          8 
+  dof_treeid            0 
+  dof_Madr              45 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 10:
+  dof_bodyid            6 
+  dof_jntid             10 
+  dof_parentid          5 
+  dof_treeid            0 
+  dof_Madr              55 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 11:
+  dof_bodyid            7 
+  dof_jntid             11 
+  dof_parentid          10 
+  dof_treeid            0 
+  dof_Madr              62 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 12:
+  dof_bodyid            8 
+  dof_jntid             12 
+  dof_parentid          11 
+  dof_treeid            0 
+  dof_Madr              70 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 13:
+  dof_bodyid            9 
+  dof_jntid             13 
+  dof_parentid          12 
+  dof_treeid            0 
+  dof_Madr              79 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 14:
+  dof_bodyid            10 
+  dof_jntid             14 
+  dof_parentid          5 
+  dof_treeid            0 
+  dof_Madr              89 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 15:
+  dof_bodyid            11 
+  dof_jntid             15 
+  dof_parentid          14 
+  dof_treeid            0 
+  dof_Madr              96 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 16:
+  dof_bodyid            12 
+  dof_jntid             16 
+  dof_parentid          15 
+  dof_treeid            0 
+  dof_Madr              104 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 17:
+  dof_bodyid            13 
+  dof_jntid             17 
+  dof_parentid          16 
+  dof_treeid            0 
+  dof_Madr              113 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 18:
+  dof_bodyid            14 
+  dof_jntid             18 
+  dof_parentid          5 
+  dof_treeid            0 
+  dof_Madr              123 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 19:
+  dof_bodyid            15 
+  dof_jntid             19 
+  dof_parentid          18 
+  dof_treeid            0 
+  dof_Madr              130 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 20:
+  dof_bodyid            16 
+  dof_jntid             20 
+  dof_parentid          19 
+  dof_treeid            0 
+  dof_Madr              138 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 21:
+  dof_bodyid            17 
+  dof_jntid             21 
+  dof_parentid          20 
+  dof_treeid            0 
+  dof_Madr              147 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 22:
+  dof_bodyid            18 
+  dof_jntid             22 
+  dof_parentid          5 
+  dof_treeid            0 
+  dof_Madr              157 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 23:
+  dof_bodyid            19 
+  dof_jntid             23 
+  dof_parentid          22 
+  dof_treeid            0 
+  dof_Madr              164 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 24:
+  dof_bodyid            20 
+  dof_jntid             24 
+  dof_parentid          23 
+  dof_treeid            0 
+  dof_Madr              172 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 25:
+  dof_bodyid            21 
+  dof_jntid             25 
+  dof_parentid          24 
+  dof_treeid            0 
+  dof_Madr              181 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 26:
+  dof_bodyid            22 
+  dof_jntid             26 
+  dof_parentid          25 
+  dof_treeid            0 
+  dof_Madr              191 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 27:
+  dof_bodyid            23 
+  dof_jntid             27 
+  dof_parentid          26 
+  dof_treeid            0 
+  dof_Madr              202 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 28:
+  dof_bodyid            24 
+  dof_jntid             28 
+  dof_parentid          -1 
+  dof_treeid            1 
+  dof_Madr              214 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        0.67     
+  dof_M0                1.5      
+
+DOF 29:
+  dof_bodyid            24 
+  dof_jntid             29 
+  dof_parentid          28 
+  dof_treeid            1 
+  dof_Madr              215 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        0.67     
+  dof_M0                1.5      
+
+DOF 30:
+  dof_bodyid            24 
+  dof_jntid             30 
+  dof_parentid          29 
+  dof_treeid            1 
+  dof_Madr              217 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        0.67     
+  dof_M0                1.5      
+
+DOF 31:
+  dof_bodyid            24 
+  dof_jntid             31 
+  dof_parentid          30 
+  dof_treeid            1 
+  dof_Madr              220 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 32:
+  dof_bodyid            24 
+  dof_jntid             32 
+  dof_parentid          31 
+  dof_treeid            1 
+  dof_Madr              224 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 33:
+  dof_bodyid            24 
+  dof_jntid             33 
+  dof_parentid          32 
+  dof_treeid            1 
+  dof_Madr              229 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 34:
+  dof_bodyid            25 
+  dof_jntid             34 
+  dof_parentid          33 
+  dof_treeid            1 
+  dof_Madr              235 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 35:
+  dof_bodyid            26 
+  dof_jntid             35 
+  dof_parentid          34 
+  dof_treeid            1 
+  dof_Madr              242 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 36:
+  dof_bodyid            27 
+  dof_jntid             36 
+  dof_parentid          35 
+  dof_treeid            1 
+  dof_Madr              250 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 37:
+  dof_bodyid            28 
+  dof_jntid             37 
+  dof_parentid          36 
+  dof_treeid            1 
+  dof_Madr              259 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 38:
+  dof_bodyid            29 
+  dof_jntid             38 
+  dof_parentid          33 
+  dof_treeid            1 
+  dof_Madr              269 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 39:
+  dof_bodyid            30 
+  dof_jntid             39 
+  dof_parentid          38 
+  dof_treeid            1 
+  dof_Madr              276 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 40:
+  dof_bodyid            31 
+  dof_jntid             40 
+  dof_parentid          39 
+  dof_treeid            1 
+  dof_Madr              284 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 41:
+  dof_bodyid            32 
+  dof_jntid             41 
+  dof_parentid          40 
+  dof_treeid            1 
+  dof_Madr              293 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 42:
+  dof_bodyid            33 
+  dof_jntid             42 
+  dof_parentid          33 
+  dof_treeid            1 
+  dof_Madr              303 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 43:
+  dof_bodyid            34 
+  dof_jntid             43 
+  dof_parentid          42 
+  dof_treeid            1 
+  dof_Madr              310 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 44:
+  dof_bodyid            35 
+  dof_jntid             44 
+  dof_parentid          43 
+  dof_treeid            1 
+  dof_Madr              318 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 45:
+  dof_bodyid            36 
+  dof_jntid             45 
+  dof_parentid          44 
+  dof_treeid            1 
+  dof_Madr              327 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 46:
+  dof_bodyid            37 
+  dof_jntid             46 
+  dof_parentid          33 
+  dof_treeid            1 
+  dof_Madr              337 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 47:
+  dof_bodyid            38 
+  dof_jntid             47 
+  dof_parentid          46 
+  dof_treeid            1 
+  dof_Madr              344 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 48:
+  dof_bodyid            39 
+  dof_jntid             48 
+  dof_parentid          47 
+  dof_treeid            1 
+  dof_Madr              352 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 49:
+  dof_bodyid            40 
+  dof_jntid             49 
+  dof_parentid          48 
+  dof_treeid            1 
+  dof_Madr              361 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 50:
+  dof_bodyid            41 
+  dof_jntid             50 
+  dof_parentid          33 
+  dof_treeid            1 
+  dof_Madr              371 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 51:
+  dof_bodyid            42 
+  dof_jntid             51 
+  dof_parentid          50 
+  dof_treeid            1 
+  dof_Madr              378 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 52:
+  dof_bodyid            43 
+  dof_jntid             52 
+  dof_parentid          51 
+  dof_treeid            1 
+  dof_Madr              386 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 53:
+  dof_bodyid            44 
+  dof_jntid             53 
+  dof_parentid          52 
+  dof_treeid            1 
+  dof_Madr              395 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 54:
+  dof_bodyid            45 
+  dof_jntid             54 
+  dof_parentid          53 
+  dof_treeid            1 
+  dof_Madr              405 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+DOF 55:
+  dof_bodyid            46 
+  dof_jntid             55 
+  dof_parentid          54 
+  dof_treeid            1 
+  dof_Madr              416 
+  dof_simplenum         0 
+  dof_solref            0.02      1        
+  dof_solimp            0.9       0.95      0.001     0.5       2        
+  dof_frictionloss      0        
+  dof_armature          1        
+  dof_damping           0        
+  dof_invweight0        1        
+  dof_M0                1        
+
+
+GEOM 0:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           1 
+  geom_dataid           0 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.029     0.05      0.063    
+  geom_aabb             0.0014   -0.0023   -0.0051    0.027     0.048     0.057    
+  geom_rbound           0.085    
+  geom_pos             -0.035    -0.0025    0.0014   
+  geom_quat             0.49      0.49      0.5       0.52     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 1:
+  name                  collision_hand_right_palm_0
+  geom_type             6 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           1 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.04      0.02      0.01     
+  geom_aabb             0         0         0         0.04      0.02      0.01     
+  geom_rbound           0.046    
+  geom_pos             -0.04      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 2:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           3 
+  geom_dataid           2 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.012     0.013     0.022    
+  geom_aabb            -0.00049   0.00064   0.00069   0.012     0.013     0.022    
+  geom_rbound           0.029    
+  geom_pos             -0.015     0.0041   -0.0021   
+  geom_quat            -0.076     0.59     -0.16      0.79     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 3:
+  name                  collision_hand_right_index_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           3 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.008     0.016     0        
+  geom_aabb             0         0         0         0.008     0.008     0.024    
+  geom_rbound           0.024    
+  geom_pos             -0.016     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 4:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           4 
+  geom_dataid           4 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0093    0.011     0.015    
+  geom_aabb            -0.00041  -0.00069   0.00071   0.0089    0.01      0.015    
+  geom_rbound           0.021    
+  geom_pos             -0.01     -0.0017   -0.00056  
+  geom_quat             0.48      0.4       0.5       0.6      
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 5:
+  name                  collision_hand_right_index_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           4 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.011     0        
+  geom_aabb             0         0         0         0.007     0.007     0.018    
+  geom_rbound           0.018    
+  geom_pos             -0.011     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 6:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           5 
+  geom_dataid           6 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0076    0.0083    0.016    
+  geom_aabb             0.00048   0.00012  -0.0018    0.0072    0.0082    0.014    
+  geom_rbound           0.02     
+  geom_pos             -0.0095    0.00018  -0.00016  
+  geom_quat             0.58      0.44      0.54      0.44     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 7:
+  name                  collision_hand_right_index_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           5 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.009     0        
+  geom_aabb             0         0         0         0.006     0.006     0.015    
+  geom_rbound           0.015    
+  geom_pos             -0.009     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 8:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           7 
+  geom_dataid           8 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.011     0.012     0.023    
+  geom_aabb             0.0003   -2.9e-05  -0.0012    0.011     0.012     0.021    
+  geom_rbound           0.028    
+  geom_pos             -0.013     0.0027   -0.0026   
+  geom_quat             0.016     0.66     -0.017     0.75     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 9:
+  name                  collision_hand_right_middle_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           7 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.008     0.016     0        
+  geom_aabb             0         0         0         0.008     0.008     0.024    
+  geom_rbound           0.024    
+  geom_pos             -0.016     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 10:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           8 
+  geom_dataid           10 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0089    0.0097    0.017    
+  geom_aabb            -0.00025   0.00015  -0.0018    0.0087    0.0096    0.015    
+  geom_rbound           0.021    
+  geom_pos             -0.011    -0.00091  -1.4e-05  
+  geom_quat             0.48      0.39      0.61      0.5      
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 11:
+  name                  collision_hand_right_middle_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           8 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.012     0        
+  geom_aabb             0         0         0         0.007     0.007     0.019    
+  geom_rbound           0.019    
+  geom_pos             -0.012     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 12:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           9 
+  geom_dataid           12 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0077    0.0086    0.016    
+  geom_aabb            -0.00016  -0.00026  -0.00099   0.0076    0.0083    0.015    
+  geom_rbound           0.019    
+  geom_pos             -0.011     0.00071   0.00027  
+  geom_quat             0.57      0.43      0.54      0.44     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 13:
+  name                  collision_hand_right_middle_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           9 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.01      0        
+  geom_aabb             0         0         0         0.006     0.006     0.016    
+  geom_rbound           0.016    
+  geom_pos             -0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 14:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           11 
+  geom_dataid           14 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.01      0.011     0.016    
+  geom_aabb            -0.00092   0.001     0.00012   0.0096    0.01      0.016    
+  geom_rbound           0.022    
+  geom_pos             -0.0079    0.0025   -0.0016   
+  geom_quat             0.57      0.45      0.52      0.45     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 15:
+  name                  collision_hand_right_pinky_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           11 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.01      0        
+  geom_aabb             0         0         0         0.007     0.007     0.017    
+  geom_rbound           0.017    
+  geom_pos             -0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 16:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           12 
+  geom_dataid           16 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0076    0.0089    0.013    
+  geom_aabb            -0.00012  -0.00045  -0.0001    0.0075    0.0085    0.012    
+  geom_rbound           0.017    
+  geom_pos             -0.0089    0.0011   -0.00025  
+  geom_quat             0.61      0.3       0.63      0.36     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 17:
+  name                  collision_hand_right_pinky_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           12 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.009     0        
+  geom_aabb             0         0         0         0.006     0.006     0.015    
+  geom_rbound           0.015    
+  geom_pos             -0.009     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 18:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           13 
+  geom_dataid           18 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0065    0.0073    0.012    
+  geom_aabb             9.9e-05   5.4e-05  -0.0011    0.0064    0.0072    0.011    
+  geom_rbound           0.016    
+  geom_pos             -0.0079   -0.00013   0.00031  
+  geom_quat             0.48      0.43      0.62      0.46     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 19:
+  name                  collision_hand_right_pinky_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           13 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.005     0.008     0        
+  geom_aabb             0         0         0         0.005     0.005     0.013    
+  geom_rbound           0.013    
+  geom_pos             -0.008     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 20:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           15 
+  geom_dataid           20 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.014     0.016     0.022    
+  geom_aabb             0.0017    0.0025    0.0012    0.012     0.013     0.02     
+  geom_rbound           0.03     
+  geom_pos             -0.012     0.0033    0.0027   
+  geom_quat            -0.15      0.73     -0.19      0.64     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 21:
+  name                  collision_hand_right_ring_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           15 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.014     0        
+  geom_aabb             0         0         0         0.007     0.007     0.021    
+  geom_rbound           0.021    
+  geom_pos             -0.014     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 22:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           16 
+  geom_dataid           22 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.009     0.0095    0.019    
+  geom_aabb            -0.00041  -8.7e-05  -0.0013    0.0086    0.0094    0.018    
+  geom_rbound           0.023    
+  geom_pos             -0.011    -0.0011   -0.0021   
+  geom_quat             0.64      0.25      0.62      0.38     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 23:
+  name                  collision_hand_right_ring_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           16 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.012     0        
+  geom_aabb             0         0         0         0.006     0.006     0.018    
+  geom_rbound           0.018    
+  geom_pos             -0.012     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 24:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           17 
+  geom_dataid           24 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0075    0.0078    0.015    
+  geom_aabb             0.00026  -0.00014  -0.0015    0.0072    0.0076    0.013    
+  geom_rbound           0.018    
+  geom_pos             -0.011     0.0007    0.00018  
+  geom_quat             0.51      0.53      0.49      0.47     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 25:
+  name                  collision_hand_right_ring_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           17 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.005     0.01      0        
+  geom_aabb             0         0         0         0.005     0.005     0.015    
+  geom_rbound           0.015    
+  geom_pos             -0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 26:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           20 
+  geom_dataid           26 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.019     0.025     0.033    
+  geom_aabb            -0.001    -0.0024    0.0011    0.018     0.022     0.032    
+  geom_rbound           0.046    
+  geom_pos             -0.0087    0.0034   -0.0045   
+  geom_quat             0.9      -0.11      0.41      0.038    
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 27:
+  name                  collision_hand_right_thumb_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           20 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.008     0.014     0        
+  geom_aabb             0         0         0         0.008     0.008     0.022    
+  geom_rbound           0.022    
+  geom_pos             -0.014     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 28:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           22 
+  geom_dataid           28 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.015     0.019     0.019    
+  geom_aabb            -0.0015   -0.0027    5.7e-05   0.014     0.016     0.019    
+  geom_rbound           0.031    
+  geom_pos             -0.011    -0.0037   -0.00066  
+  geom_quat             0.52      0.18      0.73      0.4      
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 29:
+  name                  collision_hand_right_thumb_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           22 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.012     0        
+  geom_aabb             0         0         0         0.007     0.007     0.019    
+  geom_rbound           0.019    
+  geom_pos             -0.012     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 30:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           23 
+  geom_dataid           30 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.011     0.011     0.022    
+  geom_aabb             0.00091   3.7e-05  -0.0032    0.01      0.011     0.018    
+  geom_rbound           0.027    
+  geom_pos             -0.013     0.00099   5.8e-05  
+  geom_quat             0.53      0.5       0.5       0.46     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 31:
+  name                  collision_hand_right_thumb_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           23 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.01      0        
+  geom_aabb             0         0         0         0.006     0.006     0.016    
+  geom_rbound           0.016    
+  geom_pos             -0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 32:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           24 
+  geom_dataid           32 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.029     0.05      0.063    
+  geom_aabb             0.0014   -0.0023    0.0051    0.027     0.048     0.057    
+  geom_rbound           0.085    
+  geom_pos              0.035    -0.0025    0.0014   
+  geom_quat             0.5       0.52      0.49      0.49     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 33:
+  name                  collision_hand_left_palm_0
+  geom_type             6 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           24 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.04      0.02      0.01     
+  geom_aabb             0         0         0         0.04      0.02      0.01     
+  geom_rbound           0.046    
+  geom_pos              0.04      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 34:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           26 
+  geom_dataid           34 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.012     0.013     0.022    
+  geom_aabb            -0.00049   0.00064  -0.00069   0.012     0.013     0.022    
+  geom_rbound           0.029    
+  geom_pos              0.015     0.0041   -0.0021   
+  geom_quat            -0.16      0.79     -0.076     0.59     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 35:
+  name                  collision_hand_left_index_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           26 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.008     0.016     0        
+  geom_aabb             0         0         0         0.008     0.008     0.024    
+  geom_rbound           0.024    
+  geom_pos              0.016     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 36:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           27 
+  geom_dataid           36 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0093    0.011     0.015    
+  geom_aabb            -0.00041  -0.00069  -0.00071   0.0089    0.01      0.015    
+  geom_rbound           0.021    
+  geom_pos              0.01     -0.0017   -0.00056  
+  geom_quat             0.5       0.6       0.48      0.4      
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 37:
+  name                  collision_hand_left_index_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           27 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.011     0        
+  geom_aabb             0         0         0         0.007     0.007     0.018    
+  geom_rbound           0.018    
+  geom_pos              0.011     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 38:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           28 
+  geom_dataid           38 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0076    0.0083    0.016    
+  geom_aabb             0.00048   0.00012   0.0018    0.0072    0.0082    0.014    
+  geom_rbound           0.02     
+  geom_pos              0.0095    0.00018  -0.00016  
+  geom_quat             0.54      0.44      0.58      0.44     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 39:
+  name                  collision_hand_left_index_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           28 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.009     0        
+  geom_aabb             0         0         0         0.006     0.006     0.015    
+  geom_rbound           0.015    
+  geom_pos              0.009     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 40:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           30 
+  geom_dataid           40 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.011     0.012     0.023    
+  geom_aabb             0.0003   -2.9e-05   0.0012    0.011     0.012     0.021    
+  geom_rbound           0.028    
+  geom_pos              0.013     0.0027   -0.0026   
+  geom_quat            -0.017     0.75      0.016     0.66     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 41:
+  name                  collision_hand_left_middle_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           30 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.008     0.016     0        
+  geom_aabb             0         0         0         0.008     0.008     0.024    
+  geom_rbound           0.024    
+  geom_pos              0.016     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 42:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           31 
+  geom_dataid           42 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0089    0.0097    0.017    
+  geom_aabb            -0.00025   0.00015   0.0018    0.0087    0.0096    0.015    
+  geom_rbound           0.021    
+  geom_pos              0.011    -0.00091  -1.4e-05  
+  geom_quat             0.61      0.5       0.48      0.39     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 43:
+  name                  collision_hand_left_middle_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           31 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.012     0        
+  geom_aabb             0         0         0         0.007     0.007     0.019    
+  geom_rbound           0.019    
+  geom_pos              0.012     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 44:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           32 
+  geom_dataid           44 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0077    0.0086    0.016    
+  geom_aabb            -0.00016  -0.00026   0.00099   0.0076    0.0083    0.015    
+  geom_rbound           0.019    
+  geom_pos              0.011     0.00071   0.00027  
+  geom_quat             0.54      0.44      0.57      0.43     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 45:
+  name                  collision_hand_left_middle_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           32 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.01      0        
+  geom_aabb             0         0         0         0.006     0.006     0.016    
+  geom_rbound           0.016    
+  geom_pos              0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 46:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           34 
+  geom_dataid           46 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.01      0.011     0.016    
+  geom_aabb            -0.00092   0.001    -0.00012   0.0096    0.01      0.016    
+  geom_rbound           0.022    
+  geom_pos              0.0079    0.0025   -0.0016   
+  geom_quat             0.52      0.45      0.57      0.45     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 47:
+  name                  collision_hand_left_pinky_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           34 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.01      0        
+  geom_aabb             0         0         0         0.007     0.007     0.017    
+  geom_rbound           0.017    
+  geom_pos              0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 48:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           35 
+  geom_dataid           48 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0076    0.0089    0.013    
+  geom_aabb            -0.00012  -0.00045   0.0001    0.0075    0.0085    0.012    
+  geom_rbound           0.017    
+  geom_pos              0.0089    0.0011   -0.00025  
+  geom_quat             0.63      0.36      0.61      0.3      
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 49:
+  name                  collision_hand_left_pinky_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           35 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.009     0        
+  geom_aabb             0         0         0         0.006     0.006     0.015    
+  geom_rbound           0.015    
+  geom_pos              0.009     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 50:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           36 
+  geom_dataid           50 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0065    0.0073    0.012    
+  geom_aabb             9.9e-05   5.4e-05   0.0011    0.0064    0.0072    0.011    
+  geom_rbound           0.016    
+  geom_pos              0.0079   -0.00013   0.00031  
+  geom_quat             0.62      0.46      0.48      0.43     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 51:
+  name                  collision_hand_left_pinky_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           36 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.005     0.008     0        
+  geom_aabb             0         0         0         0.005     0.005     0.013    
+  geom_rbound           0.013    
+  geom_pos              0.008     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 52:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           38 
+  geom_dataid           52 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.014     0.016     0.022    
+  geom_aabb             0.0017    0.0025   -0.0012    0.012     0.013     0.02     
+  geom_rbound           0.03     
+  geom_pos              0.012     0.0033    0.0027   
+  geom_quat            -0.19      0.64     -0.15      0.73     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 53:
+  name                  collision_hand_left_ring_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           38 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.014     0        
+  geom_aabb             0         0         0         0.007     0.007     0.021    
+  geom_rbound           0.021    
+  geom_pos              0.014     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 54:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           39 
+  geom_dataid           54 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.009     0.0095    0.019    
+  geom_aabb            -0.00041  -8.7e-05   0.0013    0.0086    0.0094    0.018    
+  geom_rbound           0.023    
+  geom_pos              0.011    -0.0011   -0.0021   
+  geom_quat             0.62      0.38      0.64      0.25     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 55:
+  name                  collision_hand_left_ring_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           39 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.012     0        
+  geom_aabb             0         0         0         0.006     0.006     0.018    
+  geom_rbound           0.018    
+  geom_pos              0.012     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 56:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           40 
+  geom_dataid           56 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.0075    0.0078    0.015    
+  geom_aabb             0.00026  -0.00014   0.0015    0.0072    0.0076    0.013    
+  geom_rbound           0.018    
+  geom_pos              0.011     0.0007    0.00018  
+  geom_quat             0.49      0.47      0.51      0.53     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 57:
+  name                  collision_hand_left_ring_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           40 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.005     0.01      0        
+  geom_aabb             0         0         0         0.005     0.005     0.015    
+  geom_rbound           0.015    
+  geom_pos              0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 58:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           43 
+  geom_dataid           58 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.019     0.025     0.033    
+  geom_aabb            -0.001    -0.0024   -0.0011    0.018     0.022     0.032    
+  geom_rbound           0.046    
+  geom_pos              0.0087    0.0034   -0.0045   
+  geom_quat             0.41      0.038     0.9      -0.11     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 59:
+  name                  collision_hand_left_thumb_1
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           43 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.008     0.014     0        
+  geom_aabb             0         0         0         0.008     0.008     0.022    
+  geom_rbound           0.022    
+  geom_pos              0.014     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 60:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           45 
+  geom_dataid           60 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.015     0.019     0.019    
+  geom_aabb            -0.0015   -0.0027   -5.7e-05   0.014     0.016     0.019    
+  geom_rbound           0.031    
+  geom_pos              0.011    -0.0037   -0.00066  
+  geom_quat             0.73      0.4       0.52      0.18     
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 61:
+  name                  collision_hand_left_thumb_2
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           45 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.007     0.012     0        
+  geom_aabb             0         0         0         0.007     0.007     0.019    
+  geom_rbound           0.019    
+  geom_pos              0.012     0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+GEOM 62:
+  name                  
+  geom_type             7 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           46 
+  geom_dataid           62 
+  geom_matid            -1 
+  geom_group            1 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        0 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.011     0.011     0.022    
+  geom_aabb             0.00091   3.7e-05   0.0032    0.01      0.011     0.018    
+  geom_rbound           0.027    
+  geom_pos              0.013     0.00099   5.8e-05  
+  geom_quat             0.5       0.46      0.53      0.5      
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0.5       0.5       0.5       1        
+
+GEOM 63:
+  name                  collision_hand_left_thumb_3
+  geom_type             3 
+  geom_contype          0 
+  geom_conaffinity      0 
+  geom_condim           1 
+  geom_bodyid           46 
+  geom_dataid           -1 
+  geom_matid            -1 
+  geom_group            3 
+  geom_priority         0 
+  geom_plugin           -1 
+  geom_sameframe        3 
+  geom_solmix           1        
+  geom_solref           0.02      1        
+  geom_solimp           0.9       0.95      0.001     0.5       2        
+  geom_size             0.006     0.01      0        
+  geom_aabb             0         0         0         0.006     0.006     0.016    
+  geom_rbound           0.016    
+  geom_pos              0.01      0         0        
+  geom_quat             1         0         0         0        
+  geom_friction         1         0.005     0.0001   
+  geom_margin           0        
+  geom_gap              0        
+  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0        
+  geom_rgba             0         1         0         1        
+
+
+SITE 0:
+  name                  right_palm
+  site_type             2 
+  site_bodyid           1 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        1 
+  site_size             0.01      0.005     0.005    
+  site_pos              0         0         0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 1:
+  name                  trace_hand_right_index_tip
+  site_type             2 
+  site_bodyid           5 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.023    -0.0037    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 2:
+  name                  track_hand_right_index_tip
+  site_type             2 
+  site_bodyid           5 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.023    -0.0037    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 3:
+  name                  right_index_tip
+  site_type             2 
+  site_bodyid           5 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos             -0.023    -0.0037    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 4:
+  name                  trace_hand_right_middle_tip
+  site_type             2 
+  site_bodyid           9 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.023    -0.0038    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 5:
+  name                  track_hand_right_middle_tip
+  site_type             2 
+  site_bodyid           9 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.023    -0.0038    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 6:
+  name                  right_middle_tip
+  site_type             2 
+  site_bodyid           9 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos             -0.023    -0.0038    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 7:
+  name                  trace_hand_right_pinky_tip
+  site_type             2 
+  site_bodyid           13 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.016    -0.0047    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 8:
+  name                  track_hand_right_pinky_tip
+  site_type             2 
+  site_bodyid           13 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.016    -0.0047    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 9:
+  name                  right_pinky_tip
+  site_type             2 
+  site_bodyid           13 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos             -0.016    -0.0047    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 10:
+  name                  trace_hand_right_ring_tip
+  site_type             2 
+  site_bodyid           17 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.021    -0.0049    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 11:
+  name                  track_hand_right_ring_tip
+  site_type             2 
+  site_bodyid           17 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.021    -0.0049    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 12:
+  name                  right_ring_tip
+  site_type             2 
+  site_bodyid           17 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos             -0.021    -0.0049    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 13:
+  name                  trace_hand_right_thumb_tip
+  site_type             2 
+  site_bodyid           23 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.027    -0.0056    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 14:
+  name                  track_hand_right_thumb_tip
+  site_type             2 
+  site_bodyid           23 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos             -0.027    -0.0056    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 15:
+  name                  right_thumb_tip
+  site_type             2 
+  site_bodyid           23 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos             -0.027    -0.0056    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 16:
+  name                  left_palm
+  site_type             2 
+  site_bodyid           24 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        0 
+  site_size             0.01      0.005     0.005    
+  site_pos              0         0         0        
+  site_quat             0.5       0.5       0.5       0.5      
+  site_rgba             1         0         0         1        
+
+SITE 17:
+  name                  trace_hand_left_index_tip
+  site_type             2 
+  site_bodyid           28 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.023    -0.0037    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 18:
+  name                  track_hand_left_index_tip
+  site_type             2 
+  site_bodyid           28 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.023    -0.0037    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 19:
+  name                  left_index_tip
+  site_type             2 
+  site_bodyid           28 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos              0.023    -0.0037    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 20:
+  name                  trace_hand_left_middle_tip
+  site_type             2 
+  site_bodyid           32 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.023    -0.0038    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 21:
+  name                  track_hand_left_middle_tip
+  site_type             2 
+  site_bodyid           32 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.023    -0.0038    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 22:
+  name                  left_middle_tip
+  site_type             2 
+  site_bodyid           32 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos              0.023    -0.0038    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 23:
+  name                  trace_hand_left_pinky_tip
+  site_type             2 
+  site_bodyid           36 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.016    -0.0047    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 24:
+  name                  track_hand_left_pinky_tip
+  site_type             2 
+  site_bodyid           36 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.016    -0.0047    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 25:
+  name                  left_pinky_tip
+  site_type             2 
+  site_bodyid           36 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos              0.016    -0.0047    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 26:
+  name                  trace_hand_left_ring_tip
+  site_type             2 
+  site_bodyid           40 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.021    -0.0049    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 27:
+  name                  track_hand_left_ring_tip
+  site_type             2 
+  site_bodyid           40 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.021    -0.0049    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 28:
+  name                  left_ring_tip
+  site_type             2 
+  site_bodyid           40 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos              0.021    -0.0049    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 29:
+  name                  trace_hand_left_thumb_tip
+  site_type             2 
+  site_bodyid           46 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.027    -0.0056    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+SITE 30:
+  name                  track_hand_left_thumb_tip
+  site_type             2 
+  site_bodyid           46 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.005     0.005     0.005    
+  site_pos              0.027    -0.0056    0        
+  site_quat             1         0         0         0        
+  site_rgba             0         0         1         1        
+
+SITE 31:
+  name                  left_thumb_tip
+  site_type             2 
+  site_bodyid           46 
+  site_matid            -1 
+  site_group            3 
+  site_sameframe        3 
+  site_size             0.01      0.005     0.005    
+  site_pos              0.027    -0.0056    0        
+  site_quat             1         0         0         0        
+  site_rgba             1         0         0         1        
+
+
+CAMERA 0:
+  name                  right_track
+  cam_mode              0 
+  cam_bodyid            2 
+  cam_targetbodyid      -1 
+  cam_pos              -0.87     -0.35     -0.17     
+  cam_quat              0.49      0.49      0.51      0.51     
+  cam_poscom0          -0.84     -0.4       0.022    
+  cam_pos0             -0.86     -0.4       0.023    
+  cam_mat0             -0.092     0.24      0.97      1         0.001     0.094     0.022     0.97     -0.24     
+  cam_orthographic      0 
+  cam_fovy              45       
+  cam_ipd               0.068    
+  cam_resolution        1  1 
+  cam_sensorsize        0         0        
+  cam_intrinsic         0.01      0.01      0         0        
+
+CAMERA 1:
+  name                  left_track
+  cam_mode              0 
+  cam_bodyid            25 
+  cam_targetbodyid      -1 
+  cam_pos               0.87     -0.35     -0.17     
+  cam_quat              0.51      0.51      0.49      0.49     
+  cam_poscom0           0.84     -0.4       0.022    
+  cam_pos0              0.86     -0.4       0.023    
+  cam_mat0              0.092    -0.22      0.97      1        -0.001    -0.094     0.022     0.98      0.22     
+  cam_orthographic      0 
+  cam_fovy              45       
+  cam_ipd               0.068    
+  cam_resolution        1  1 
+  cam_sensorsize        0         0        
+  cam_intrinsic         0.01      0.01      0         0        
+
+
+MESH 0:
+  name                  right_palm_vis
+  mesh_vertadr          0 
+  mesh_vertnum          234 
+  mesh_normaladr        0 
+  mesh_normalnum        234 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          0 
+  mesh_facenum          464 
+  mesh_bvhadr           0 
+  mesh_bvhnum           927 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.035    -0.0025    0.0014   
+  mesh_quat             0.49      0.49      0.5       0.52     
+  mesh_pathadr          0 
+  mesh_polynum          460 
+  mesh_polyadr          0 
+
+MESH 1:
+  name                  right_palm_collision
+  mesh_vertadr          234 
+  mesh_vertnum          234 
+  mesh_normaladr        234 
+  mesh_normalnum        234 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          464 
+  mesh_facenum          403 
+  mesh_bvhadr           927 
+  mesh_bvhnum           805 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.035    -0.0027   -0.00074  
+  mesh_quat             0.51      0.49      0.53      0.46     
+  mesh_pathadr          26 
+  mesh_polynum          400 
+  mesh_polyadr          460 
+
+MESH 2:
+  name                  right_index1_vis
+  mesh_vertadr          468 
+  mesh_vertnum          47 
+  mesh_normaladr        468 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          867 
+  mesh_facenum          90 
+  mesh_bvhadr           1732 
+  mesh_bvhnum           179 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.015     0.0032    0.0014   
+  mesh_quat            -0.081     0.68     -0.15      0.71     
+  mesh_pathadr          58 
+  mesh_polynum          90 
+  mesh_polyadr          860 
+
+MESH 3:
+  name                  right_index1_collision
+  mesh_vertadr          515 
+  mesh_vertnum          47 
+  mesh_normaladr        515 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          957 
+  mesh_facenum          73 
+  mesh_bvhadr           1911 
+  mesh_bvhnum           145 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.017     0.0035    0.0018   
+  mesh_quat             0.026     0.63     -0.071     0.78     
+  mesh_pathadr          86 
+  mesh_polynum          73 
+  mesh_polyadr          950 
+
+MESH 4:
+  name                  right_index2_vis
+  mesh_vertadr          562 
+  mesh_vertnum          43 
+  mesh_normaladr        562 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1030 
+  mesh_facenum          82 
+  mesh_bvhadr           2056 
+  mesh_bvhnum           163 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011    -0.00044   0.00015  
+  mesh_quat             0.5       0.45      0.5       0.55     
+  mesh_pathadr          120 
+  mesh_polynum          82 
+  mesh_polyadr          1023 
+
+MESH 5:
+  name                  right_index2_collision
+  mesh_vertadr          605 
+  mesh_vertnum          43 
+  mesh_normaladr        605 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1112 
+  mesh_facenum          66 
+  mesh_bvhadr           2219 
+  mesh_bvhnum           131 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011    -0.00051   0.00019  
+  mesh_quat             0.6       0.2       0.22      0.74     
+  mesh_pathadr          148 
+  mesh_polynum          66 
+  mesh_polyadr          1105 
+
+MESH 6:
+  name                  right_index3_vis
+  mesh_vertadr          648 
+  mesh_vertnum          62 
+  mesh_normaladr        648 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1178 
+  mesh_facenum          120 
+  mesh_bvhadr           2350 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0094   -0.00037  -0.00021  
+  mesh_quat             0.56      0.42      0.55      0.45     
+  mesh_pathadr          182 
+  mesh_polynum          118 
+  mesh_polyadr          1171 
+
+MESH 7:
+  name                  right_index3_collision
+  mesh_vertadr          710 
+  mesh_vertnum          62 
+  mesh_normaladr        710 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1298 
+  mesh_facenum          112 
+  mesh_bvhadr           2589 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.012    -0.00054  -0.00021  
+  mesh_quat             0.59      0.41      0.53      0.45     
+  mesh_pathadr          210 
+  mesh_polynum          110 
+  mesh_polyadr          1289 
+
+MESH 8:
+  name                  right_middle1_vis
+  mesh_vertadr          772 
+  mesh_vertnum          45 
+  mesh_normaladr        772 
+  mesh_normalnum        45 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1410 
+  mesh_facenum          86 
+  mesh_bvhadr           2812 
+  mesh_bvhnum           171 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.013     0.0025   -0.003    
+  mesh_quat             0.01      0.65     -0.012     0.76     
+  mesh_pathadr          244 
+  mesh_polynum          86 
+  mesh_polyadr          1399 
+
+MESH 9:
+  name                  right_middle1_collision
+  mesh_vertadr          817 
+  mesh_vertnum          23 
+  mesh_normaladr        817 
+  mesh_normalnum        23 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1496 
+  mesh_facenum          26 
+  mesh_bvhadr           2983 
+  mesh_bvhnum           51 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.016     0.0026   -0.0035   
+  mesh_quat             0.77      0.55      0.29      0.13     
+  mesh_pathadr          273 
+  mesh_polynum          26 
+  mesh_polyadr          1485 
+
+MESH 10:
+  name                  right_middle2_vis
+  mesh_vertadr          840 
+  mesh_vertnum          43 
+  mesh_normaladr        840 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1522 
+  mesh_facenum          82 
+  mesh_bvhadr           3034 
+  mesh_bvhnum           163 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011    -0.00025  -0.002    
+  mesh_quat             0.54      0.37      0.55      0.52     
+  mesh_pathadr          308 
+  mesh_polynum          82 
+  mesh_polyadr          1511 
+
+MESH 11:
+  name                  right_middle2_collision
+  mesh_vertadr          883 
+  mesh_vertnum          43 
+  mesh_normaladr        883 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1604 
+  mesh_facenum          66 
+  mesh_bvhadr           3197 
+  mesh_bvhnum           131 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011    -0.00043  -0.002    
+  mesh_quat             0.5       0.32      0.55      0.58     
+  mesh_pathadr          337 
+  mesh_polynum          66 
+  mesh_polyadr          1593 
+
+MESH 12:
+  name                  right_middle3_vis
+  mesh_vertadr          926 
+  mesh_vertnum          62 
+  mesh_normaladr        926 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1670 
+  mesh_facenum          120 
+  mesh_bvhadr           3328 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011     0.00013  -0.0016   
+  mesh_quat             0.61      0.38      0.5       0.49     
+  mesh_pathadr          372 
+  mesh_polynum          118 
+  mesh_polyadr          1659 
+
+MESH 13:
+  name                  right_middle3_collision
+  mesh_vertadr          988 
+  mesh_vertnum          62 
+  mesh_normaladr        988 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1790 
+  mesh_facenum          112 
+  mesh_bvhadr           3567 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.013     5.9e-05  -0.0019   
+  mesh_quat             0.62      0.37      0.49      0.49     
+  mesh_pathadr          401 
+  mesh_polynum          110 
+  mesh_polyadr          1777 
+
+MESH 14:
+  name                  right_pinky1_vis
+  mesh_vertadr          1050 
+  mesh_vertnum          38 
+  mesh_normaladr        1050 
+  mesh_normalnum        38 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1902 
+  mesh_facenum          72 
+  mesh_bvhadr           3790 
+  mesh_bvhnum           143 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.006     0.0015   -0.0057   
+  mesh_quat             0.67      0.27      0.37      0.58     
+  mesh_pathadr          436 
+  mesh_polynum          71 
+  mesh_polyadr          1887 
+
+MESH 15:
+  name                  right_pinky1_collision
+  mesh_vertadr          1088 
+  mesh_vertnum          17 
+  mesh_normaladr        1088 
+  mesh_normalnum        17 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1974 
+  mesh_facenum          13 
+  mesh_bvhadr           3933 
+  mesh_bvhnum           25 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0066    0.0032   -0.0089   
+  mesh_quat             0.19      0.68     -0.55      0.44     
+  mesh_pathadr          464 
+  mesh_polynum          13 
+  mesh_polyadr          1958 
+
+MESH 16:
+  name                  right_pinky2_vis
+  mesh_vertadr          1105 
+  mesh_vertnum          47 
+  mesh_normaladr        1105 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          1987 
+  mesh_facenum          90 
+  mesh_bvhadr           3958 
+  mesh_bvhnum           179 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.007     0.0011   -0.0055   
+  mesh_quat             0.78      0.18      0.41      0.44     
+  mesh_pathadr          498 
+  mesh_polynum          89 
+  mesh_polyadr          1971 
+
+MESH 17:
+  name                  right_pinky2_collision
+  mesh_vertadr          1152 
+  mesh_vertnum          47 
+  mesh_normaladr        1152 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2077 
+  mesh_facenum          73 
+  mesh_bvhadr           4137 
+  mesh_bvhnum           145 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0076    0.0013   -0.006    
+  mesh_quat             0.71     -0.016     0.35      0.62     
+  mesh_pathadr          526 
+  mesh_polynum          72 
+  mesh_polyadr          2060 
+
+MESH 18:
+  name                  right_pinky3_vis
+  mesh_vertadr          1199 
+  mesh_vertnum          61 
+  mesh_normaladr        1199 
+  mesh_normalnum        61 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2150 
+  mesh_facenum          118 
+  mesh_bvhadr           4282 
+  mesh_bvhnum           235 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0068   -0.00042  -0.0041   
+  mesh_quat             0.63      0.27      0.46      0.57     
+  mesh_pathadr          560 
+  mesh_polynum          118 
+  mesh_polyadr          2132 
+
+MESH 19:
+  name                  right_pinky3_collision
+  mesh_vertadr          1260 
+  mesh_vertnum          61 
+  mesh_normaladr        1260 
+  mesh_normalnum        61 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2268 
+  mesh_facenum          110 
+  mesh_bvhadr           4517 
+  mesh_bvhnum           219 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0085   -0.00078  -0.0049   
+  mesh_quat             0.56      0.33      0.43      0.62     
+  mesh_pathadr          588 
+  mesh_polynum          110 
+  mesh_polyadr          2250 
+
+MESH 20:
+  name                  right_ring1_vis
+  mesh_vertadr          1321 
+  mesh_vertnum          44 
+  mesh_normaladr        1321 
+  mesh_normalnum        44 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2378 
+  mesh_facenum          84 
+  mesh_bvhadr           4736 
+  mesh_bvhnum           167 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.012     0.0027   -0.0013   
+  mesh_quat            -0.19      0.62     -0.14      0.75     
+  mesh_pathadr          622 
+  mesh_polynum          84 
+  mesh_polyadr          2360 
+
+MESH 21:
+  name                  right_ring1_collision
+  mesh_vertadr          1365 
+  mesh_vertnum          22 
+  mesh_normaladr        1365 
+  mesh_normalnum        22 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2462 
+  mesh_facenum          24 
+  mesh_bvhadr           4903 
+  mesh_bvhnum           47 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.015     0.0028   -0.0018   
+  mesh_quat             0.75      0.63     -0.18     -0.081    
+  mesh_pathadr          649 
+  mesh_polynum          24 
+  mesh_polyadr          2444 
+
+MESH 22:
+  name                  right_ring2_vis
+  mesh_vertadr          1387 
+  mesh_vertnum          48 
+  mesh_normaladr        1387 
+  mesh_normalnum        48 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2486 
+  mesh_facenum          92 
+  mesh_bvhadr           4950 
+  mesh_bvhnum           183 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011    -0.00028  -0.0041   
+  mesh_quat             0.7       0.24      0.55      0.38     
+  mesh_pathadr          682 
+  mesh_polynum          90 
+  mesh_polyadr          2468 
+
+MESH 23:
+  name                  right_ring2_collision
+  mesh_vertadr          1435 
+  mesh_vertnum          48 
+  mesh_normaladr        1435 
+  mesh_normalnum        48 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2578 
+  mesh_facenum          76 
+  mesh_bvhadr           5133 
+  mesh_bvhnum           151 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.012    -0.00035  -0.0044   
+  mesh_quat             0.68      0.23      0.58      0.39     
+  mesh_pathadr          709 
+  mesh_polynum          74 
+  mesh_polyadr          2558 
+
+MESH 24:
+  name                  right_ring3_vis
+  mesh_vertadr          1483 
+  mesh_vertnum          62 
+  mesh_normaladr        1483 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2654 
+  mesh_facenum          120 
+  mesh_bvhadr           5284 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011    -5.1e-05  -0.0032   
+  mesh_quat             0.56      0.43      0.43      0.56     
+  mesh_pathadr          742 
+  mesh_polynum          119 
+  mesh_polyadr          2632 
+
+MESH 25:
+  name                  right_ring3_collision
+  mesh_vertadr          1545 
+  mesh_vertnum          62 
+  mesh_normaladr        1545 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2774 
+  mesh_facenum          112 
+  mesh_bvhadr           5523 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.013    -0.00013  -0.0038   
+  mesh_quat             0.57      0.43      0.42      0.56     
+  mesh_pathadr          769 
+  mesh_polynum          111 
+  mesh_polyadr          2751 
+
+MESH 26:
+  name                  right_thumb1_vis
+  mesh_vertadr          1607 
+  mesh_vertnum          39 
+  mesh_normaladr        1607 
+  mesh_normalnum        39 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2886 
+  mesh_facenum          72 
+  mesh_bvhadr           5746 
+  mesh_bvhnum           143 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0067    0.0016    0.0078   
+  mesh_quat             0.56      0.39      0.68      0.26     
+  mesh_pathadr          802 
+  mesh_polynum          72 
+  mesh_polyadr          2862 
+
+MESH 27:
+  name                  right_thumb1_collision
+  mesh_vertadr          1646 
+  mesh_vertnum          39 
+  mesh_normaladr        1646 
+  mesh_normalnum        39 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          2958 
+  mesh_facenum          51 
+  mesh_bvhadr           5889 
+  mesh_bvhnum           101 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0037   -0.00091   0.01     
+  mesh_quat             0.037     0.75     -0.47      0.46     
+  mesh_pathadr          830 
+  mesh_polynum          51 
+  mesh_polyadr          2934 
+
+MESH 28:
+  name                  right_thumb2_vis
+  mesh_vertadr          1685 
+  mesh_vertnum          42 
+  mesh_normaladr        1685 
+  mesh_normalnum        42 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          3009 
+  mesh_facenum          80 
+  mesh_bvhadr           5990 
+  mesh_bvhnum           159 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0094   -0.0013    0.0061   
+  mesh_quat             0.15      0.66      0.58      0.45     
+  mesh_pathadr          864 
+  mesh_polynum          80 
+  mesh_polyadr          2985 
+
+MESH 29:
+  name                  right_thumb2_collision
+  mesh_vertadr          1727 
+  mesh_vertnum          42 
+  mesh_normaladr        1727 
+  mesh_normalnum        42 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          3089 
+  mesh_facenum          63 
+  mesh_bvhadr           6149 
+  mesh_bvhnum           125 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.0098   -0.0014    0.0074   
+  mesh_quat            -0.082     0.63      0.39      0.66     
+  mesh_pathadr          892 
+  mesh_polynum          63 
+  mesh_polyadr          3065 
+
+MESH 30:
+  name                  right_thumb3_vis
+  mesh_vertadr          1769 
+  mesh_vertnum          62 
+  mesh_normaladr        1769 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          3152 
+  mesh_facenum          120 
+  mesh_bvhadr           6274 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.011    -0.0022    0.008    
+  mesh_quat             0.072     0.83      0.33      0.45     
+  mesh_pathadr          926 
+  mesh_polynum          119 
+  mesh_polyadr          3128 
+
+MESH 31:
+  name                  right_thumb3_collision
+  mesh_vertadr          1831 
+  mesh_vertnum          62 
+  mesh_normaladr        1831 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          3272 
+  mesh_facenum          112 
+  mesh_bvhadr           6513 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos             -0.013    -0.0028    0.0094   
+  mesh_quat             0.074     0.85      0.32      0.42     
+  mesh_pathadr          954 
+  mesh_polynum          111 
+  mesh_polyadr          3247 
+
+MESH 32:
+  name                  left_palm_vis
+  mesh_vertadr          1893 
+  mesh_vertnum          234 
+  mesh_normaladr        1893 
+  mesh_normalnum        234 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          3384 
+  mesh_facenum          464 
+  mesh_bvhadr           6736 
+  mesh_bvhnum           927 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.035    -0.0025    0.0014   
+  mesh_quat             0.5       0.52      0.49      0.49     
+  mesh_pathadr          988 
+  mesh_polynum          460 
+  mesh_polyadr          3358 
+
+MESH 33:
+  name                  left_palm_collision
+  mesh_vertadr          2127 
+  mesh_vertnum          234 
+  mesh_normaladr        2127 
+  mesh_normalnum        234 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          3848 
+  mesh_facenum          403 
+  mesh_bvhadr           7663 
+  mesh_bvhnum           805 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.035    -0.0027   -0.00074  
+  mesh_quat             0.53      0.46      0.51      0.49     
+  mesh_pathadr          1013 
+  mesh_polynum          400 
+  mesh_polyadr          3818 
+
+MESH 34:
+  name                  left_index1_vis
+  mesh_vertadr          2361 
+  mesh_vertnum          47 
+  mesh_normaladr        2361 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4251 
+  mesh_facenum          90 
+  mesh_bvhadr           8468 
+  mesh_bvhnum           179 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.015     0.0032    0.0014   
+  mesh_quat            -0.15      0.71     -0.081     0.68     
+  mesh_pathadr          1044 
+  mesh_polynum          90 
+  mesh_polyadr          4218 
+
+MESH 35:
+  name                  left_index1_collision
+  mesh_vertadr          2408 
+  mesh_vertnum          47 
+  mesh_normaladr        2408 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4341 
+  mesh_facenum          73 
+  mesh_bvhadr           8647 
+  mesh_bvhnum           145 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.017     0.0035    0.0018   
+  mesh_quat            -0.071     0.78      0.026     0.63     
+  mesh_pathadr          1071 
+  mesh_polynum          73 
+  mesh_polyadr          4308 
+
+MESH 36:
+  name                  left_index2_vis
+  mesh_vertadr          2455 
+  mesh_vertnum          43 
+  mesh_normaladr        2455 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4414 
+  mesh_facenum          82 
+  mesh_bvhadr           8792 
+  mesh_bvhnum           163 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011    -0.00044   0.00015  
+  mesh_quat             0.5       0.55      0.5       0.45     
+  mesh_pathadr          1104 
+  mesh_polynum          82 
+  mesh_polyadr          4381 
+
+MESH 37:
+  name                  left_index2_collision
+  mesh_vertadr          2498 
+  mesh_vertnum          43 
+  mesh_normaladr        2498 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4496 
+  mesh_facenum          66 
+  mesh_bvhadr           8955 
+  mesh_bvhnum           131 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011    -0.00051   0.00019  
+  mesh_quat             0.74     -0.22     -0.2       0.6      
+  mesh_pathadr          1131 
+  mesh_polynum          66 
+  mesh_polyadr          4463 
+
+MESH 38:
+  name                  left_index3_vis
+  mesh_vertadr          2541 
+  mesh_vertnum          62 
+  mesh_normaladr        2541 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4562 
+  mesh_facenum          120 
+  mesh_bvhadr           9086 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0094   -0.00037  -0.00021  
+  mesh_quat             0.55      0.45      0.56      0.42     
+  mesh_pathadr          1164 
+  mesh_polynum          118 
+  mesh_polyadr          4529 
+
+MESH 39:
+  name                  left_index3_collision
+  mesh_vertadr          2603 
+  mesh_vertnum          62 
+  mesh_normaladr        2603 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4682 
+  mesh_facenum          112 
+  mesh_bvhadr           9325 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.012    -0.00054  -0.00021  
+  mesh_quat             0.53      0.45      0.59      0.41     
+  mesh_pathadr          1191 
+  mesh_polynum          110 
+  mesh_polyadr          4647 
+
+MESH 40:
+  name                  left_middle1_vis
+  mesh_vertadr          2665 
+  mesh_vertnum          45 
+  mesh_normaladr        2665 
+  mesh_normalnum        45 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4794 
+  mesh_facenum          86 
+  mesh_bvhadr           9548 
+  mesh_bvhnum           171 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.013     0.0025   -0.003    
+  mesh_quat            -0.012     0.76      0.01      0.65     
+  mesh_pathadr          1224 
+  mesh_polynum          86 
+  mesh_polyadr          4757 
+
+MESH 41:
+  name                  left_middle1_collision
+  mesh_vertadr          2710 
+  mesh_vertnum          23 
+  mesh_normaladr        2710 
+  mesh_normalnum        23 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4880 
+  mesh_facenum          26 
+  mesh_bvhadr           9719 
+  mesh_bvhnum           51 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.016     0.0026   -0.0035   
+  mesh_quat             0.77      0.55     -0.29     -0.13     
+  mesh_pathadr          1252 
+  mesh_polynum          26 
+  mesh_polyadr          4843 
+
+MESH 42:
+  name                  left_middle2_vis
+  mesh_vertadr          2733 
+  mesh_vertnum          43 
+  mesh_normaladr        2733 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4906 
+  mesh_facenum          82 
+  mesh_bvhadr           9770 
+  mesh_bvhnum           163 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011    -0.00025  -0.002    
+  mesh_quat             0.55      0.52      0.54      0.37     
+  mesh_pathadr          1286 
+  mesh_polynum          82 
+  mesh_polyadr          4869 
+
+MESH 43:
+  name                  left_middle2_collision
+  mesh_vertadr          2776 
+  mesh_vertnum          43 
+  mesh_normaladr        2776 
+  mesh_normalnum        43 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          4988 
+  mesh_facenum          66 
+  mesh_bvhadr           9933 
+  mesh_bvhnum           131 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011    -0.00043  -0.002    
+  mesh_quat             0.55      0.58      0.5       0.32     
+  mesh_pathadr          1314 
+  mesh_polynum          66 
+  mesh_polyadr          4951 
+
+MESH 44:
+  name                  left_middle3_vis
+  mesh_vertadr          2819 
+  mesh_vertnum          62 
+  mesh_normaladr        2819 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5054 
+  mesh_facenum          120 
+  mesh_bvhadr           10064 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011     0.00013  -0.0016   
+  mesh_quat             0.5       0.49      0.61      0.38     
+  mesh_pathadr          1348 
+  mesh_polynum          118 
+  mesh_polyadr          5017 
+
+MESH 45:
+  name                  left_middle3_collision
+  mesh_vertadr          2881 
+  mesh_vertnum          62 
+  mesh_normaladr        2881 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5174 
+  mesh_facenum          112 
+  mesh_bvhadr           10303 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.013     5.9e-05  -0.0019   
+  mesh_quat             0.49      0.49      0.62      0.37     
+  mesh_pathadr          1376 
+  mesh_polynum          110 
+  mesh_polyadr          5135 
+
+MESH 46:
+  name                  left_pinky1_vis
+  mesh_vertadr          2943 
+  mesh_vertnum          38 
+  mesh_normaladr        2943 
+  mesh_normalnum        38 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5286 
+  mesh_facenum          72 
+  mesh_bvhadr           10526 
+  mesh_bvhnum           143 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.006     0.0015   -0.0057   
+  mesh_quat             0.37      0.58      0.67      0.27     
+  mesh_pathadr          1410 
+  mesh_polynum          71 
+  mesh_polyadr          5245 
+
+MESH 47:
+  name                  left_pinky1_collision
+  mesh_vertadr          2981 
+  mesh_vertnum          17 
+  mesh_normaladr        2981 
+  mesh_normalnum        17 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5358 
+  mesh_facenum          13 
+  mesh_bvhadr           10669 
+  mesh_bvhnum           25 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0066    0.0032   -0.0089   
+  mesh_quat             0.44      0.55     -0.68      0.19     
+  mesh_pathadr          1437 
+  mesh_polynum          13 
+  mesh_polyadr          5316 
+
+MESH 48:
+  name                  left_pinky2_vis
+  mesh_vertadr          2998 
+  mesh_vertnum          47 
+  mesh_normaladr        2998 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5371 
+  mesh_facenum          90 
+  mesh_bvhadr           10694 
+  mesh_bvhnum           179 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.007     0.0011   -0.0055   
+  mesh_quat             0.41      0.44      0.78      0.18     
+  mesh_pathadr          1470 
+  mesh_polynum          89 
+  mesh_polyadr          5329 
+
+MESH 49:
+  name                  left_pinky2_collision
+  mesh_vertadr          3045 
+  mesh_vertnum          47 
+  mesh_normaladr        3045 
+  mesh_normalnum        47 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5461 
+  mesh_facenum          73 
+  mesh_bvhadr           10873 
+  mesh_bvhnum           145 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0076    0.0013   -0.006    
+  mesh_quat             0.62     -0.35      0.016     0.71     
+  mesh_pathadr          1497 
+  mesh_polynum          72 
+  mesh_polyadr          5418 
+
+MESH 50:
+  name                  left_pinky3_vis
+  mesh_vertadr          3092 
+  mesh_vertnum          61 
+  mesh_normaladr        3092 
+  mesh_normalnum        61 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5534 
+  mesh_facenum          118 
+  mesh_bvhadr           11018 
+  mesh_bvhnum           235 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0068   -0.00042  -0.0041   
+  mesh_quat             0.46      0.57      0.63      0.27     
+  mesh_pathadr          1530 
+  mesh_polynum          118 
+  mesh_polyadr          5490 
+
+MESH 51:
+  name                  left_pinky3_collision
+  mesh_vertadr          3153 
+  mesh_vertnum          61 
+  mesh_normaladr        3153 
+  mesh_normalnum        61 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5652 
+  mesh_facenum          110 
+  mesh_bvhadr           11253 
+  mesh_bvhnum           219 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0085   -0.00078  -0.0049   
+  mesh_quat             0.43      0.62      0.56      0.33     
+  mesh_pathadr          1557 
+  mesh_polynum          110 
+  mesh_polyadr          5608 
+
+MESH 52:
+  name                  left_ring1_vis
+  mesh_vertadr          3214 
+  mesh_vertnum          44 
+  mesh_normaladr        3214 
+  mesh_normalnum        44 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5762 
+  mesh_facenum          84 
+  mesh_bvhadr           11472 
+  mesh_bvhnum           167 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.012     0.0027   -0.0013   
+  mesh_quat            -0.14      0.75     -0.19      0.62     
+  mesh_pathadr          1590 
+  mesh_polynum          84 
+  mesh_polyadr          5718 
+
+MESH 53:
+  name                  left_ring1_collision
+  mesh_vertadr          3258 
+  mesh_vertnum          22 
+  mesh_normaladr        3258 
+  mesh_normalnum        22 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5846 
+  mesh_facenum          24 
+  mesh_bvhadr           11639 
+  mesh_bvhnum           47 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.015     0.0028   -0.0018   
+  mesh_quat             0.75      0.63      0.18      0.081    
+  mesh_pathadr          1616 
+  mesh_polynum          24 
+  mesh_polyadr          5802 
+
+MESH 54:
+  name                  left_ring2_vis
+  mesh_vertadr          3280 
+  mesh_vertnum          48 
+  mesh_normaladr        3280 
+  mesh_normalnum        48 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5870 
+  mesh_facenum          92 
+  mesh_bvhadr           11686 
+  mesh_bvhnum           183 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011    -0.00028  -0.0041   
+  mesh_quat             0.55      0.38      0.7       0.24     
+  mesh_pathadr          1648 
+  mesh_polynum          90 
+  mesh_polyadr          5826 
+
+MESH 55:
+  name                  left_ring2_collision
+  mesh_vertadr          3328 
+  mesh_vertnum          48 
+  mesh_normaladr        3328 
+  mesh_normalnum        48 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          5962 
+  mesh_facenum          76 
+  mesh_bvhadr           11869 
+  mesh_bvhnum           151 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.012    -0.00035  -0.0044   
+  mesh_quat             0.58      0.39      0.68      0.23     
+  mesh_pathadr          1674 
+  mesh_polynum          74 
+  mesh_polyadr          5916 
+
+MESH 56:
+  name                  left_ring3_vis
+  mesh_vertadr          3376 
+  mesh_vertnum          62 
+  mesh_normaladr        3376 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6038 
+  mesh_facenum          120 
+  mesh_bvhadr           12020 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011    -5.1e-05  -0.0032   
+  mesh_quat             0.43      0.56      0.56      0.43     
+  mesh_pathadr          1706 
+  mesh_polynum          119 
+  mesh_polyadr          5990 
+
+MESH 57:
+  name                  left_ring3_collision
+  mesh_vertadr          3438 
+  mesh_vertnum          62 
+  mesh_normaladr        3438 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6158 
+  mesh_facenum          112 
+  mesh_bvhadr           12259 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.013    -0.00013  -0.0038   
+  mesh_quat             0.42      0.56      0.57      0.43     
+  mesh_pathadr          1732 
+  mesh_polynum          111 
+  mesh_polyadr          6109 
+
+MESH 58:
+  name                  left_thumb1_vis
+  mesh_vertadr          3500 
+  mesh_vertnum          39 
+  mesh_normaladr        3500 
+  mesh_normalnum        39 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6270 
+  mesh_facenum          72 
+  mesh_bvhadr           12482 
+  mesh_bvhnum           143 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0067    0.0016    0.0078   
+  mesh_quat             0.68      0.26      0.56      0.39     
+  mesh_pathadr          1764 
+  mesh_polynum          72 
+  mesh_polyadr          6220 
+
+MESH 59:
+  name                  left_thumb1_collision
+  mesh_vertadr          3539 
+  mesh_vertnum          39 
+  mesh_normaladr        3539 
+  mesh_normalnum        39 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6342 
+  mesh_facenum          51 
+  mesh_bvhadr           12625 
+  mesh_bvhnum           101 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0037   -0.00091   0.01     
+  mesh_quat             0.46      0.47     -0.75      0.037    
+  mesh_pathadr          1791 
+  mesh_polynum          51 
+  mesh_polyadr          6292 
+
+MESH 60:
+  name                  left_thumb2_vis
+  mesh_vertadr          3578 
+  mesh_vertnum          42 
+  mesh_normaladr        3578 
+  mesh_normalnum        42 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6393 
+  mesh_facenum          80 
+  mesh_bvhadr           12726 
+  mesh_bvhnum           159 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0094   -0.0013    0.0061   
+  mesh_quat             0.58      0.45      0.15      0.66     
+  mesh_pathadr          1824 
+  mesh_polynum          80 
+  mesh_polyadr          6343 
+
+MESH 61:
+  name                  left_thumb2_collision
+  mesh_vertadr          3620 
+  mesh_vertnum          42 
+  mesh_normaladr        3620 
+  mesh_normalnum        42 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6473 
+  mesh_facenum          63 
+  mesh_bvhadr           12885 
+  mesh_bvhnum           125 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.0098   -0.0014    0.0074   
+  mesh_quat             0.39      0.66     -0.082     0.63     
+  mesh_pathadr          1851 
+  mesh_polynum          63 
+  mesh_polyadr          6423 
+
+MESH 62:
+  name                  left_thumb3_vis
+  mesh_vertadr          3662 
+  mesh_vertnum          62 
+  mesh_normaladr        3662 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6536 
+  mesh_facenum          120 
+  mesh_bvhadr           13010 
+  mesh_bvhnum           239 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.011    -0.0022    0.008    
+  mesh_quat             0.33      0.45      0.072     0.83     
+  mesh_pathadr          1884 
+  mesh_polynum          119 
+  mesh_polyadr          6486 
+
+MESH 63:
+  name                  left_thumb3_collision
+  mesh_vertadr          3724 
+  mesh_vertnum          62 
+  mesh_normaladr        3724 
+  mesh_normalnum        62 
+  mesh_texcoordadr      -1 
+  mesh_texcoordnum      0 
+  mesh_faceadr          6656 
+  mesh_facenum          112 
+  mesh_bvhadr           13249 
+  mesh_bvhnum           223 
+  mesh_octadr           -1 
+  mesh_octnum           0 
+  mesh_graphadr         -1 
+  mesh_scale            1         1         1        
+  mesh_pos              0.013    -0.0028    0.0094   
+  mesh_quat             0.32      0.42      0.074     0.85     
+  mesh_pathadr          1911 
+  mesh_polynum          111 
+  mesh_polyadr          6605 
+
+
+TEXTURE 0:
+  name                  
+  tex_type              2 
+  tex_colorspace        0 
+  tex_height            3072 
+  tex_width             512 
+  tex_nchannel          3 
+  tex_adr               0 
+  tex_pathadr           -1 
+
+TEXTURE 1:
+  name                  right_groundplane
+  tex_type              0 
+  tex_colorspace        0 
+  tex_height            300 
+  tex_width             300 
+  tex_nchannel          3 
+  tex_adr               4718592 
+  tex_pathadr           -1 
+
+TEXTURE 2:
+  name                  
+  tex_type              2 
+  tex_colorspace        0 
+  tex_height            3072 
+  tex_width             512 
+  tex_nchannel          3 
+  tex_adr               4988592 
+  tex_pathadr           -1 
+
+TEXTURE 3:
+  name                  left_groundplane
+  tex_type              0 
+  tex_colorspace        0 
+  tex_height            300 
+  tex_width             300 
+  tex_nchannel          3 
+  tex_adr               9707184 
+  tex_pathadr           -1 
+
+
+MATERIAL 0:
+  name                  right_groundplane
+  mat_texid             -1  1  -1  -1  -1  -1  -1  -1  -1  -1 
+  mat_texuniform        1 
+  mat_texrepeat         5         5        
+  mat_emission          0        
+  mat_specular          0.5      
+  mat_shininess         0.5      
+  mat_reflectance       0.2      
+  mat_metallic         -1        
+  mat_roughness        -1        
+  mat_rgba              1         1         1         1        
+
+MATERIAL 1:
+  name                  left_groundplane
+  mat_texid             -1  3  -1  -1  -1  -1  -1  -1  -1  -1 
+  mat_texuniform        1 
+  mat_texrepeat         5         5        
+  mat_emission          0        
+  mat_specular          0.5      
+  mat_shininess         0.5      
+  mat_reflectance       0.2      
+  mat_metallic         -1        
+  mat_roughness        -1        
+  mat_rgba              1         1         1         1        
+
+
+ACTUATOR 0:
+  name                  right_pos_x
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        0  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -77        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -3         3        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         0.67     
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 1:
+  name                  right_pos_y
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        1  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -77        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -3         3        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         0.67     
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 2:
+  name                  right_pos_z
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        2  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -77        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -3         3        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         0.67     
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 3:
+  name                  right_rot_x
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        3  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -63        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -6.3       6.3      
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 4:
+  name                  right_rot_y
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        4  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -63        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -6.3       6.3      
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 5:
+  name                  right_rot_z
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        5  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -63        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -6.3       6.3      
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 6:
+  name                  right_j_index1y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        6  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 7:
+  name                  right_j_index1z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        7  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 8:
+  name                  right_j_index2_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        8  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 9:
+  name                  right_j_index3_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        9  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 10:
+  name                  right_j_middle1y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        10  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 11:
+  name                  right_j_middle1z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        11  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 12:
+  name                  right_j_middle2_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        12  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 13:
+  name                  right_j_middle3_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        13  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 14:
+  name                  right_j_pinky1y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        14  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 15:
+  name                  right_j_pinky1z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        15  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 16:
+  name                  right_j_pinky2_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        16  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 17:
+  name                  right_j_pinky3_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        17  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 18:
+  name                  right_j_ring1y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        18  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 19:
+  name                  right_j_ring1z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        19  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 20:
+  name                  right_j_ring2_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        20  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 21:
+  name                  right_j_ring3_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        21  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
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+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 22:
+  name                  right_j_thumb1x_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        22  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
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+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 23:
+  name                  right_j_thumb1y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        23  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
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+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 24:
+  name                  right_j_thumb1z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        24  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 25:
+  name                  right_j_thumb2y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        25  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 26:
+  name                  right_j_thumb2z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        26  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 27:
+  name                  right_j_thumb3_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        27  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
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+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 28:
+  name                  left_pos_x
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        28  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -77        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -3         3        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         0.67     
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 29:
+  name                  left_pos_y
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        29  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -77        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -3         3        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         0.67     
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 30:
+  name                  left_pos_z
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        30  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
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+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -77        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -3         3        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         0.67     
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 31:
+  name                  left_rot_x
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        31  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
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+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -63        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -6.3       6.3      
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 32:
+  name                  left_rot_y
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        32  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -63        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -6.3       6.3      
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 33:
+  name                  left_rot_z
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        33  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  1 
+  actuator_forcelimited 0 
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+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      1e+03     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -1e+03    -63        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange   -6.3       6.3      
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 34:
+  name                  left_j_index1y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        34  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 35:
+  name                  left_j_index1z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        35  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
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+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 36:
+  name                  left_j_index2_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        36  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 37:
+  name                  left_j_index3_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        37  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 38:
+  name                  left_j_middle1y_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        38  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 39:
+  name                  left_j_middle1z_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        39  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
+  actuator_group        0 
+  actuator_ctrllimited  0 
+  actuator_forcelimited 0 
+  actuator_actlimited   0 
+  actuator_dynprm       1         0         0         0         0         0         0         0         0         0        
+  actuator_gainprm      3e+02     0         0         0         0         0         0         0         0         0        
+  actuator_biasprm      0        -3e+02    -35        0         0         0         0         0         0         0        
+  actuator_actearly     0 
+  actuator_ctrlrange    0         0        
+  actuator_forcerange   0         0        
+  actuator_actrange     0         0        
+  actuator_gear         1         0         0         0         0         0        
+  actuator_cranklength  0        
+  actuator_acc0         1        
+  actuator_length0      0        
+  actuator_lengthrange  0         0        
+  actuator_plugin       -1 
+
+ACTUATOR 40:
+  name                  left_j_middle2_position
+  actuator_trntype      0 
+  actuator_dyntype      0 
+  actuator_gaintype     0 
+  actuator_biastype     1 
+  actuator_trnid        40  -1 
+  actuator_actadr       -1 
+  actuator_actnum       0 
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+ACTUATOR 45:
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+ACTUATOR 46:
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+ACTUATOR 47:
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+ACTUATOR 48:
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+ACTUATOR 49:
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+ACTUATOR 50:
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+ACTUATOR 51:
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+ACTUATOR 52:
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+ACTUATOR 53:
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+ACTUATOR 54:
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+ACTUATOR 55:
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+
diff --git a/processed/hot3d/assets/robots/mano/bimanual.xml b/processed/hot3d/assets/robots/mano/bimanual.xml
new file mode 100644
index 0000000000000000000000000000000000000000..debb1c3e9ab50d0402f803f629151d5135f7d271
--- /dev/null
+++ b/processed/hot3d/assets/robots/mano/bimanual.xml
@@ -0,0 +1,4 @@
+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/mano/left.xml b/processed/hot3d/assets/robots/mano/left.xml
new file mode 100644
index 0000000000000000000000000000000000000000..56009ea120fcf87a28eb7d9383792a07e32dc59f
--- /dev/null
+++ b/processed/hot3d/assets/robots/mano/left.xml
@@ -0,0 +1,341 @@
+<mujoco model="mano">
+  <compiler angle="radian" meshdir="meshes/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="300" dampratio="1.0" inheritrange="0" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+
+    <default class="left_base_slide">
+      <joint type="slide" axis="0 1 0" range="-3.0 3.0" />
+      <position kp="1000" ctrlrange="-3.0 3.0" />
+    </default>
+    <default class="left_base_hinge">
+      <joint axis="0 0 1" range="-6.28 6.28" />
+      <position kp="1000" ctrlrange="-6.28 6.28" />
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+      height="3072" />
+    <texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+    <mesh name="left_palm_vis" content_type="model/obj" file="left_meshes/palm_vis.obj" />
+    <mesh name="left_palm_collision" content_type="model/obj" file="left_meshes/palm_collision.obj" />
+    <mesh name="left_index1_vis" content_type="model/obj" file="left_meshes/index1_vis.obj" />
+    <mesh name="left_index1_collision" content_type="model/obj"
+      file="left_meshes/index1_collision.obj" />
+    <mesh name="left_index2_vis" content_type="model/obj" file="left_meshes/index2_vis.obj" />
+    <mesh name="left_index2_collision" content_type="model/obj"
+      file="left_meshes/index2_collision.obj" />
+    <mesh name="left_index3_vis" content_type="model/obj" file="left_meshes/index3_vis.obj" />
+    <mesh name="left_index3_collision" content_type="model/obj"
+      file="left_meshes/index3_collision.obj" />
+    <mesh name="left_middle1_vis" content_type="model/obj" file="left_meshes/middle1_vis.obj" />
+    <mesh name="left_middle1_collision" content_type="model/obj"
+      file="left_meshes/middle1_collision.obj" />
+    <mesh name="left_middle2_vis" content_type="model/obj" file="left_meshes/middle2_vis.obj" />
+    <mesh name="left_middle2_collision" content_type="model/obj"
+      file="left_meshes/middle2_collision.obj" />
+    <mesh name="left_middle3_vis" content_type="model/obj" file="left_meshes/middle3_vis.obj" />
+    <mesh name="left_middle3_collision" content_type="model/obj"
+      file="left_meshes/middle3_collision.obj" />
+    <mesh name="left_pinky1_vis" content_type="model/obj" file="left_meshes/pinky1_vis.obj" />
+    <mesh name="left_pinky1_collision" content_type="model/obj"
+      file="left_meshes/pinky1_collision.obj" />
+    <mesh name="left_pinky2_vis" content_type="model/obj" file="left_meshes/pinky2_vis.obj" />
+    <mesh name="left_pinky2_collision" content_type="model/obj"
+      file="left_meshes/pinky2_collision.obj" />
+    <mesh name="left_pinky3_vis" content_type="model/obj" file="left_meshes/pinky3_vis.obj" />
+    <mesh name="left_pinky3_collision" content_type="model/obj"
+      file="left_meshes/pinky3_collision.obj" />
+    <mesh name="left_ring1_vis" content_type="model/obj" file="left_meshes/ring1_vis.obj" />
+    <mesh name="left_ring1_collision" content_type="model/obj"
+      file="left_meshes/ring1_collision.obj" />
+    <mesh name="left_ring2_vis" content_type="model/obj" file="left_meshes/ring2_vis.obj" />
+    <mesh name="left_ring2_collision" content_type="model/obj"
+      file="left_meshes/ring2_collision.obj" />
+    <mesh name="left_ring3_vis" content_type="model/obj" file="left_meshes/ring3_vis.obj" />
+    <mesh name="left_ring3_collision" content_type="model/obj"
+      file="left_meshes/ring3_collision.obj" />
+    <mesh name="left_thumb1_vis" content_type="model/obj" file="left_meshes/thumb1_vis.obj" />
+    <mesh name="left_thumb1_collision" content_type="model/obj"
+      file="left_meshes/thumb1_collision.obj" />
+    <mesh name="left_thumb2_vis" content_type="model/obj" file="left_meshes/thumb2_vis.obj" />
+    <mesh name="left_thumb2_collision" content_type="model/obj"
+      file="left_meshes/thumb2_collision.obj" />
+    <mesh name="left_thumb3_vis" content_type="model/obj" file="left_meshes/thumb3_vis.obj" />
+    <mesh name="left_thumb3_collision" content_type="model/obj"
+      file="left_meshes/thumb3_collision.obj" />
+  </asset>
+
+
+  <worldbody>
+    <body name="left_palm" gravcomp="1">
+      <joint name="left_pos_x" axis="1 0 0" class="left_base_slide" />
+      <joint name="left_pos_y" axis="0 1 0" class="left_base_slide" />
+      <joint name="left_pos_z" axis="0 0 1" class="left_base_slide" />
+      <joint name="left_rot_x" axis="1 0 0" class="left_base_hinge" />
+      <joint name="left_rot_y" axis="0 1 0" class="left_base_hinge" />
+      <joint name="left_rot_z" axis="0 0 1" class="left_base_hinge" />
+
+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="left_palm_vis" />
+      <geom name="collision_hand_left_palm_0" type="box" size="0.04 0.02 0.01" pos="0.04 0 0"
+        group="3" rgba="0 1 0 1" />
+      <site name="left_palm" pos="0.0946604 -0.00147896 -0.00335754" quat="1 -1 1 -1" />
+
+      <body name="left_index1y" pos="0.0880972 -0.00520036 0.020686"
+        quat="0.992949 0.00330198 -0.115013 -0.0285073">
+        <camera name="left_track" pos="0.868 -0.348 -0.175"
+          xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+        <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+        <joint name="left_j_index1y" pos="0 0 0" axis="0 -1 0" range="-0.174533 0.174533" />
+        <body name="left_index1z">
+          <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+          <joint name="left_j_index1z" pos="0 0 0" axis="0 0 -1" range="0 1.5708" />
+          <geom quat="0.992949 -0.00330198 0.115013 0.0285073" type="mesh" contype="0"
+            conaffinity="0"
+            group="1" density="0" mesh="left_index1_vis" />
+          <geom name="collision_hand_left_index_1" type="capsule" size="0.008 0.016" pos="0.016 0 0"
+            group="3" rgba="0 1 0 1" />
+          <body name="left_index2" pos="0.0320372 0.00585704 -0.00531176"
+            quat="0.992687 0.00261912 0.0813131 0.0891864">
+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="left_j_index2" pos="0 0 0" axis="0 0 -1" range="0 1.74533" />
+            <geom quat="0.997574 0.00206105 0.0338008 -0.0608285" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="left_index2_vis" />
+            <geom name="collision_hand_left_index_2" type="capsule" size="0.007 0.011"
+              pos="0.011 0 0"
+              group="3" rgba="0 1 0 1" />
+            <body name="left_index3" pos="0.0217759 -0.00397366 -0.00161355"
+              quat="0.995276 0.00115242 0.0364189 -0.0899872">
+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="left_j_index3" pos="0 0 0" axis="0 0 -1" range="0 1.39626" />
+              <geom quat="0.999568 7.53592e-05 -0.00257406 0.0292638" type="mesh" contype="0"
+                conaffinity="0" group="1" density="0" mesh="left_index3_vis" />
+              <geom name="collision_hand_left_index_3" type="capsule" size="0.006 0.009"
+                pos="0.009 0 0" group="3" rgba="0 1 0 1" />
+              <site name="trace_hand_left_index_tip" pos="0.023106 -0.003671 0" size="0.005"
+                rgba="1 0 0 1" />
+              <site name="track_hand_left_index_tip" pos="0.023106 -0.003671 0" size="0.005"
+                rgba="0 0 1 1" />
+              <site name="left_index_tip" pos="0.023106 -0.003671 0" quat="1 0 0 0" />
+            </body>
+          </body>
+        </body>
+      </body>
+
+      <body name="left_middle1y" pos="0.0946604 -0.00147896 -0.00335754"
+        quat="0.999812 -0.000138377 0.0177257 -0.0078051">
+        <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+        <joint name="left_j_middle1y" pos="0 0 0" axis="0 -1 0" range="-0.174533 0.174533" />
+        <body name="left_middle1z">
+          <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+          <joint name="left_j_middle1z" pos="0 0 0" axis="0 0 -1" range="0 1.5708" />
+          <geom quat="0.999812 0.000138377 -0.0177257 0.0078051" type="mesh" contype="0"
+            conaffinity="0" group="1" density="0" mesh="left_middle1_vis" />
+          <geom name="collision_hand_left_middle_1" type="capsule" size="0.008 0.016"
+            pos="0.016 0 0"
+            group="3" rgba="0 1 0 1" />
+          <body name="left_middle2" pos="0.0313285 0.00235072 -0.00448566"
+            quat="0.99679 0.00152841 0.0709577 0.037047">
+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="left_j_middle2" pos="0 0 0" axis="0 0 -1" range="0 1.74533" />
+            <geom quat="0.995635 -0.00260071 -0.0886064 -0.0292231" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="left_middle2_vis" />
+            <geom name="collision_hand_left_middle_2" type="capsule" size="0.007 0.012"
+              pos="0.012 0 0" group="3" rgba="0 1 0 1" />
+            <body name="left_middle3" pos="0.0231278 -0.00261309 0.00016224"
+              quat="0.998412 -8.48904e-06 -0.00349023 -0.0562232">
+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="left_j_middle3" pos="0 0 0" axis="0 0 -1" range="0 1.39626" />
+              <geom quat="0.996006 0.00229162 -0.0851367 0.0268094" type="mesh" contype="0"
+                conaffinity="0" group="1" density="0" mesh="left_middle3_vis" />
+              <geom name="collision_hand_left_middle_3" type="capsule" size="0.006 0.010"
+                pos="0.010 0 0" group="3" rgba="0 1 0 1" />
+              <site name="trace_hand_left_middle_tip" pos="0.022723 -0.003808 0" size="0.005"
+                rgba="1 0 0 1" />
+              <site name="track_hand_left_middle_tip" pos="0.022723 -0.003808 0" size="0.005"
+                rgba="0 0 1 1" />
+              <site name="left_middle_tip" pos="0.022723 -0.003808 0" quat="1 0 0 0" />
+            </body>
+          </body>
+        </body>
+      </body>
+
+      <body name="left_pinky1y" pos="0.0687869 -0.00994033 -0.0432093"
+        quat="0.959155 -0.0168401 0.276261 -0.0584674">
+        <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+        <joint name="left_j_pinky1y" pos="0 0 0" axis="0 -1 0" range="-0.174533 0.174533" />
+        <body name="left_pinky1z">
+          <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+          <joint name="left_j_pinky1z" pos="0 0 0" axis="0 0 -1" range="0 1.5708" />
+          <geom quat="0.959155 0.0168401 -0.276261 0.0584674" type="mesh" contype="0"
+            conaffinity="0"
+            group="1" density="0" mesh="left_pinky1_vis" />
+          <geom name="collision_hand_left_pinky_1" type="capsule" size="0.007 0.010" pos="0.010 0 0"
+            group="3" rgba="0 1 0 1" />
+          <body name="left_pinky2" pos="0.0208927 0.0026189 -0.00153353"
+            quat="0.997398 -0.00215815 0.036279 0.0622646">
+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="left_j_pinky2" pos="0 0 0" axis="0 0 -1" range="0 1.74533" />
+            <geom quat="0.950241 -0.000456125 -0.311514 -0.00139136" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="left_pinky2_vis" />
+            <geom name="collision_hand_left_pinky_2" type="capsule" size="0.006 0.009"
+              pos="0.009 0 0"
+              group="3" rgba="0 1 0 1" />
+            <body name="left_pinky3" pos="0.0189021 -0.00074651 0.00106698"
+              quat="0.999409 0.00047293 -0.028183 -0.0196984">
+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="left_j_pinky3" pos="0 0 0" axis="0 0 -1" range="0 1.39626" />
+              <geom quat="0.958485 0.00519187 -0.284559 0.0174879" type="mesh" contype="0"
+                conaffinity="0" group="1" density="0" mesh="left_pinky3_vis" />
+              <geom name="collision_hand_left_pinky_3" type="capsule" size="0.005 0.008"
+                pos="0.008 0 0" group="3" rgba="0 1 0 1" />
+              <site name="trace_hand_left_pinky_tip" pos="0.016054 -0.004705 0" size="0.005"
+                rgba="1 0 0 1" />
+              <site name="track_hand_left_pinky_tip" pos="0.016054 -0.004705 0" size="0.005"
+                rgba="0 0 1 1" />
+              <site name="left_pinky_tip" pos="0.016054 -0.004705 0" quat="1 0 0 0" />
+            </body>
+          </body>
+        </body>
+      </body>
+
+      <body name="left_ring1y" pos="0.0817355 -0.00395742 -0.0266732"
+        quat="0.987327 -0.0036119 0.157025 -0.0227106">
+        <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+        <joint name="left_j_ring1y" pos="0 0 0" axis="0 -1 0" range="-0.174533 0.174533" />
+        <body name="left_ring1z">
+          <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+          <joint name="left_j_ring1z" pos="0 0 0" axis="0 0 -1" range="0 1.5708" />
+          <geom quat="0.987327 0.0036119 -0.157025 0.0227106" type="mesh" contype="0"
+            conaffinity="0"
+            group="1" density="0" mesh="left_ring1_vis" />
+          <geom name="collision_hand_left_ring_1" type="capsule" size="0.007 0.014" pos="0.014 0 0"
+            group="3" rgba="0 1 0 1" />
+          <body name="left_ring2" pos="0.0283738 0.0033752 0.00393707"
+            quat="0.995918 -0.000882244 -0.0685799 0.0586873">
+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="left_j_ring2" pos="0 0 0" axis="0 0 -1" range="0 1.74533" />
+            <geom quat="0.995395 -0.00318966 -0.0889052 -0.0357119" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="left_ring2_vis" />
+            <geom name="collision_hand_left_ring_2" type="capsule" size="0.006 0.012"
+              pos="0.012 0 0"
+              group="3" rgba="0 1 0 1" />
+            <body name="left_ring3" pos="0.0243171 -0.00343957 -0.0033447"
+              quat="0.995261 0.000120758 0.0677846 -0.0697243">
+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="left_j_ring3" pos="0 0 0" axis="0 0 -1" range="0 1.39626" />
+              <geom quat="0.98714 0.00532482 -0.156183 0.033655" type="mesh" contype="0"
+                conaffinity="0" group="1" density="0" mesh="left_ring3_vis" />
+              <geom name="collision_hand_left_ring_3" type="capsule" size="0.005 0.010"
+                pos="0.010 0 0" group="3" rgba="0 1 0 1" />
+              <site name="trace_hand_left_ring_tip" pos="0.021453 -0.00486 0" size="0.005"
+                rgba="1 0 0 1" />
+              <site name="track_hand_left_ring_tip" pos="0.021453 -0.00486 0" size="0.005"
+                rgba="0 0 1 1" />
+              <site name="left_ring_tip" pos="0.021453 -0.00486 0" quat="1 0 0 0" />
+            </body>
+          </body>
+        </body>
+      </body>
+
+      <body name="left_thumb1x" pos="0.0240897 -0.0155223 0.0258128"
+        quat="0.751793 0.497092 -0.432853 0.0185415">
+        <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+        <joint name="left_j_thumb1x" pos="0 0 0" axis="1 0 0" range="0 1.0472" />
+        <body name="left_thumb1y">
+          <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+          <joint name="left_j_thumb1y" pos="0 0 0" axis="0 -1 0" range="-0.261799 1.0472" />
+          <body name="left_thumb1z">
+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="left_j_thumb1z" pos="0 0 0" axis="0 0 -1" range="-1.0472 1.0472" />
+            <geom quat="0.751793 -0.497092 0.432853 -0.0185414" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="left_thumb1_vis" />
+            <geom name="collision_hand_left_thumb_1" type="capsule" size="0.008 0.014"
+              pos="0.014 0 0"
+              group="3" rgba="0 1 0 1" />
+            <body name="left_thumb2y" pos="0.0277653 0.0087871 -0.00999011"
+              quat="0.975097 -0.00949146 0.164941 0.147951">
+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="left_j_thumb2y" pos="0 0 0" axis="0 -1 0" range="-0.174533 0.174533" />
+              <body name="left_thumb2z">
+                <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+                <joint name="left_j_thumb2z" pos="0 0 0" axis="0 0 -1" range="0 1.5708" />
+                <geom quat="0.806442 -0.410478 0.371794 -0.207191" type="mesh" contype="0"
+                  conaffinity="0" group="1" density="0" mesh="left_thumb2_vis" />
+                <geom name="collision_hand_left_thumb_2" type="capsule" size="0.007 0.012"
+                  pos="0.012 0 0" group="3" rgba="0 1 0 1" />
+                <body name="left_thumb3" pos="0.0251906 -0.00996365 0.00050434"
+                  quat="0.982278 0.000921531 -0.00965077 -0.187179">
+                  <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+                  <joint name="left_j_thumb3" pos="0 0 0" axis="0 0 -1" range="0 1.39626" />
+                  <geom quat="0.826966 -0.475539 0.295964 -0.0489517" type="mesh" contype="0"
+                    conaffinity="0" group="1" density="0" mesh="left_thumb3_vis" />
+                  <geom name="collision_hand_left_thumb_3" type="capsule" size="0.006 0.010"
+                    pos="0.010 0 0" group="3" rgba="0 1 0 1" />
+                  <site name="trace_hand_left_thumb_tip" pos="0.026822 -0.00565 0" size="0.005"
+                    rgba="1 0 0 1" />
+                  <site name="track_hand_left_thumb_tip" pos="0.026822 -0.00565 0" size="0.005"
+                    rgba="0 0 1 1" />
+                  <site name="left_thumb_tip" pos="0.026822 -0.00565 0" quat="1 0 0 0" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Base joints -->
+    <position name="left_pos_x" joint="left_pos_x" class="left_base_slide" />
+    <position name="left_pos_y" joint="left_pos_y" class="left_base_slide" />
+    <position name="left_pos_z" joint="left_pos_z" class="left_base_slide" />
+    <position name="left_rot_x" joint="left_rot_x" class="left_base_hinge" />
+    <position name="left_rot_y" joint="left_rot_y" class="left_base_hinge" />
+    <position name="left_rot_z" joint="left_rot_z" class="left_base_hinge" />
+
+    <!-- Index finger joints -->
+    <position name="left_j_index1y_position" joint="left_j_index1y" kp="300" />
+    <position name="left_j_index1z_position" joint="left_j_index1z" kp="300" />
+    <position name="left_j_index2_position" joint="left_j_index2" kp="300" />
+    <position name="left_j_index3_position" joint="left_j_index3" kp="300" />
+
+    <!-- Middle finger joints -->
+    <position name="left_j_middle1y_position" joint="left_j_middle1y" kp="300" />
+    <position name="left_j_middle1z_position" joint="left_j_middle1z" kp="300" />
+    <position name="left_j_middle2_position" joint="left_j_middle2" kp="300" />
+    <position name="left_j_middle3_position" joint="left_j_middle3" kp="300" />
+
+    <!-- Pinky finger joints -->
+    <position name="left_j_pinky1y_position" joint="left_j_pinky1y" kp="300" />
+    <position name="left_j_pinky1z_position" joint="left_j_pinky1z" kp="300" />
+    <position name="left_j_pinky2_position" joint="left_j_pinky2" kp="300" />
+    <position name="left_j_pinky3_position" joint="left_j_pinky3" kp="300" />
+
+    <!-- Ring finger joints -->
+    <position name="left_j_ring1y_position" joint="left_j_ring1y" kp="300" />
+    <position name="left_j_ring1z_position" joint="left_j_ring1z" kp="300" />
+    <position name="left_j_ring2_position" joint="left_j_ring2" kp="300" />
+    <position name="left_j_ring3_position" joint="left_j_ring3" kp="300" />
+
+    <!-- Thumb joints -->
+    <position name="left_j_thumb1x_position" joint="left_j_thumb1x" kp="300" />
+    <position name="left_j_thumb1y_position" joint="left_j_thumb1y" kp="300" />
+    <position name="left_j_thumb1z_position" joint="left_j_thumb1z" kp="300" />
+    <position name="left_j_thumb2y_position" joint="left_j_thumb2y" kp="300" />
+    <position name="left_j_thumb2z_position" joint="left_j_thumb2z" kp="300" />
+    <position name="left_j_thumb3_position" joint="left_j_thumb3" kp="300" />
+  </actuator>
+</mujoco>
\ No newline at end of file
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diff --git a/processed/hot3d/assets/robots/mano/right.xml b/processed/hot3d/assets/robots/mano/right.xml
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--- /dev/null
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+<mujoco model="mano">
+  <compiler angle="radian" meshdir="meshes/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="300" dampratio="1.0" inheritrange="0" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+
+    <default class="right_base_slide">
+      <joint type="slide" axis="0 1 0" range="-3.0 3.0" />
+      <position kp="1000" ctrlrange="-3.0 3.0" />
+    </default>
+    <default class="right_base_hinge">
+      <joint axis="0 0 1" range="-6.28 6.28" />
+      <position kp="1000" ctrlrange="-6.28 6.28" />
+    </default>
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+      height="3072" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+    <mesh name="right_palm_vis" content_type="model/obj" file="right_meshes/palm_vis.obj" />
+    <mesh name="right_palm_collision" content_type="model/obj"
+      file="right_meshes/palm_collision.obj" />
+    <mesh name="right_index1_vis" content_type="model/obj" file="right_meshes/index1_vis.obj" />
+    <mesh name="right_index1_collision" content_type="model/obj"
+      file="right_meshes/index1_collision.obj" />
+    <mesh name="right_index2_vis" content_type="model/obj" file="right_meshes/index2_vis.obj" />
+    <mesh name="right_index2_collision" content_type="model/obj"
+      file="right_meshes/index2_collision.obj" />
+    <mesh name="right_index3_vis" content_type="model/obj" file="right_meshes/index3_vis.obj" />
+    <mesh name="right_index3_collision" content_type="model/obj"
+      file="right_meshes/index3_collision.obj" />
+    <mesh name="right_middle1_vis" content_type="model/obj" file="right_meshes/middle1_vis.obj" />
+    <mesh name="right_middle1_collision" content_type="model/obj"
+      file="right_meshes/middle1_collision.obj" />
+    <mesh name="right_middle2_vis" content_type="model/obj" file="right_meshes/middle2_vis.obj" />
+    <mesh name="right_middle2_collision" content_type="model/obj"
+      file="right_meshes/middle2_collision.obj" />
+    <mesh name="right_middle3_vis" content_type="model/obj" file="right_meshes/middle3_vis.obj" />
+    <mesh name="right_middle3_collision" content_type="model/obj"
+      file="right_meshes/middle3_collision.obj" />
+    <mesh name="right_pinky1_vis" content_type="model/obj" file="right_meshes/pinky1_vis.obj" />
+    <mesh name="right_pinky1_collision" content_type="model/obj"
+      file="right_meshes/pinky1_collision.obj" />
+    <mesh name="right_pinky2_vis" content_type="model/obj" file="right_meshes/pinky2_vis.obj" />
+    <mesh name="right_pinky2_collision" content_type="model/obj"
+      file="right_meshes/pinky2_collision.obj" />
+    <mesh name="right_pinky3_vis" content_type="model/obj" file="right_meshes/pinky3_vis.obj" />
+    <mesh name="right_pinky3_collision" content_type="model/obj"
+      file="right_meshes/pinky3_collision.obj" />
+    <mesh name="right_ring1_vis" content_type="model/obj" file="right_meshes/ring1_vis.obj" />
+    <mesh name="right_ring1_collision" content_type="model/obj"
+      file="right_meshes/ring1_collision.obj" />
+    <mesh name="right_ring2_vis" content_type="model/obj" file="right_meshes/ring2_vis.obj" />
+    <mesh name="right_ring2_collision" content_type="model/obj"
+      file="right_meshes/ring2_collision.obj" />
+    <mesh name="right_ring3_vis" content_type="model/obj" file="right_meshes/ring3_vis.obj" />
+    <mesh name="right_ring3_collision" content_type="model/obj"
+      file="right_meshes/ring3_collision.obj" />
+    <mesh name="right_thumb1_vis" content_type="model/obj" file="right_meshes/thumb1_vis.obj" />
+    <mesh name="right_thumb1_collision" content_type="model/obj"
+      file="right_meshes/thumb1_collision.obj" />
+    <mesh name="right_thumb2_vis" content_type="model/obj" file="right_meshes/thumb2_vis.obj" />
+    <mesh name="right_thumb2_collision" content_type="model/obj"
+      file="right_meshes/thumb2_collision.obj" />
+    <mesh name="right_thumb3_vis" content_type="model/obj" file="right_meshes/thumb3_vis.obj" />
+    <mesh name="right_thumb3_collision" content_type="model/obj"
+      file="right_meshes/thumb3_collision.obj" />
+  </asset>
+
+  <worldbody>
+    <body name="right_palm" gravcomp="1">
+      <joint name="right_pos_x" axis="1 0 0" class="right_base_slide" />
+      <joint name="right_pos_y" axis="0 1 0" class="right_base_slide" />
+      <joint name="right_pos_z" axis="0 0 1" class="right_base_slide" />
+      <joint name="right_rot_x" axis="1 0 0" class="right_base_hinge" />
+      <joint name="right_rot_y" axis="0 1 0" class="right_base_hinge" />
+      <joint name="right_rot_z" axis="0 0 1" class="right_base_hinge" />
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+      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="right_palm_vis" />
+      <geom name="collision_hand_right_palm_0" type="box" size="0.04 0.02 0.01" pos="-0.04 0 0"
+        group="3" rgba="0 1 0 1" />
+      <site name="right_palm" pos="-0.0946604 -0.00147896 -0.00335754" quat="1 1 -1 -1" />
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+      <body name="right_index1y" pos="-0.0880972 -0.00520036 0.020686"
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+        <camera name="right_track" pos="-0.868 -0.348 -0.175"
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+        <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+        <joint name="right_j_index1y" pos="0 0 0" axis="0 1 0" range="-0.174533 0.174533" />
+        <body name="right_index1z">
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+          <joint name="right_j_index1z" pos="0 0 0" axis="0 0 1" range="0 1.5708" />
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+          <geom name="collision_hand_right_index_1" type="capsule" size="0.008 0.016"
+            pos="-0.016 0 0"
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+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="right_j_index2" pos="0 0 0" axis="0 0 1" range="0 1.74533" />
+            <geom quat="0.997574 0.00206105 -0.0338008 0.0608285" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="right_index2_vis" />
+            <geom name="collision_hand_right_index_2" type="capsule" size="0.007 0.011"
+              pos="-0.011 0 0" group="3" rgba="0 1 0 1" />
+            <body name="right_index3" pos="-0.0217759 -0.00397366 -0.00161355"
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+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="right_j_index3" pos="0 0 0" axis="0 0 1" range="0 1.39626" />
+              <geom quat="0.999568 7.53592e-05 0.00257406 -0.0292638" type="mesh" contype="0"
+                conaffinity="0" group="1" density="0" mesh="right_index3_vis" />
+              <geom name="collision_hand_right_index_3" type="capsule" size="0.006 0.009"
+                pos="-0.009 0 0" group="3" rgba="0 1 0 1" />
+              <site name="trace_hand_right_index_tip" pos="-0.023106 -0.003671 0" size="0.005"
+                rgba="1 0 0 1" />
+              <site name="track_hand_right_index_tip" pos="-0.023106 -0.003671 0" size="0.005"
+                rgba="0 0 1 1" />
+              <site name="right_index_tip" pos="-0.023106 -0.003671 0" quat="1 0 0 0" />
+            </body>
+          </body>
+        </body>
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+          <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+          <joint name="right_j_ring1z" pos="0 0 0" axis="0 0 1" range="0 1.5708" />
+          <geom quat="0.987327 0.0036119 0.157025 -0.0227106" type="mesh" contype="0"
+            conaffinity="0"
+            group="1" density="0" mesh="right_ring1_vis" />
+          <geom name="collision_hand_right_ring_1" type="capsule" size="0.007 0.014"
+            pos="-0.014 0 0"
+            group="3" rgba="0 1 0 1" />
+          <body name="right_ring2" pos="-0.0283738 0.0033752 0.00393707"
+            quat="0.995918 -0.000882244 0.0685799 -0.0586873">
+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="right_j_ring2" pos="0 0 0" axis="0 0 1" range="0 1.74533" />
+            <geom quat="0.995395 -0.00318966 0.0889052 0.0357119" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="right_ring2_vis" />
+            <geom name="collision_hand_right_ring_2" type="capsule" size="0.006 0.012"
+              pos="-0.012 0 0" group="3" rgba="0 1 0 1" />
+            <body name="right_ring3" pos="-0.0243171 -0.00343957 -0.0033447"
+              quat="0.995261 0.000120758 -0.0677846 0.0697243">
+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="right_j_ring3" pos="0 0 0" axis="0 0 1" range="0 1.39626" />
+              <geom quat="0.98714 0.00532482 0.156183 -0.033655" type="mesh" contype="0"
+                conaffinity="0" group="1" density="0" mesh="right_ring3_vis" />
+              <geom name="collision_hand_right_ring_3" type="capsule" size="0.005 0.010"
+                pos="-0.010 0 0" group="3" rgba="0 1 0 1" />
+              <site name="trace_hand_right_ring_tip" pos="-0.021453 -0.00486 0" size="0.005"
+                rgba="1 0 0 1" />
+              <site name="track_hand_right_ring_tip" pos="-0.021453 -0.00486 0" size="0.005"
+                rgba="0 0 1 1" />
+              <site name="right_ring_tip" pos="-0.021453 -0.00486 0" quat="1 0 0 0" />
+            </body>
+          </body>
+        </body>
+      </body>
+
+      <body name="right_thumb1x" pos="-0.0240897 -0.0155223 0.0258128"
+        quat="0.751793 0.497092 0.432853 -0.0185415">
+        <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+        <joint name="right_j_thumb1x" pos="0 0 0" axis="1 0 0" range="0 1.0472" />
+        <body name="right_thumb1y">
+          <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+          <joint name="right_j_thumb1y" pos="0 0 0" axis="0 1 0" range="-0.261799 1.0472" />
+          <body name="right_thumb1z">
+            <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+            <joint name="right_j_thumb1z" pos="0 0 0" axis="0 0 1" range="-1.0472 1.0472" />
+            <geom quat="0.751793 -0.497092 -0.432853 0.0185414" type="mesh" contype="0"
+              conaffinity="0" group="1" density="0" mesh="right_thumb1_vis" />
+            <geom name="collision_hand_right_thumb_1" type="capsule" size="0.008 0.014"
+              pos="-0.014 0 0" group="3" rgba="0 1 0 1" />
+            <body name="right_thumb2y" pos="-0.0277653 0.0087871 -0.00999011"
+              quat="0.975097 -0.00949146 -0.164941 -0.147951">
+              <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+              <joint name="right_j_thumb2y" pos="0 0 0" axis="0 1 0" range="-0.174533 0.174533" />
+              <body name="right_thumb2z">
+                <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+                <joint name="right_j_thumb2z" pos="0 0 0" axis="0 0 1" range="0 1.5708" />
+                <geom quat="0.806442 -0.410478 -0.371794 0.207191" type="mesh" contype="0"
+                  conaffinity="0" group="1" density="0" mesh="right_thumb2_vis" />
+                <geom name="collision_hand_right_thumb_2" type="capsule" size="0.007 0.012"
+                  pos="-0.012 0 0" group="3" rgba="0 1 0 1" />
+                <body name="right_thumb3" pos="-0.0251906 -0.00996365 0.00050434"
+                  quat="0.982278 0.000921531 0.00965077 0.187179">
+                  <inertial pos="0 0 0" mass="0.02" diaginertia="1.6875e-06 1.6875e-06 1.6875e-06" />
+                  <joint name="right_j_thumb3" pos="0 0 0" axis="0 0 1" range="0 1.39626" />
+                  <geom quat="0.826966 -0.475539 -0.295964 0.0489517" type="mesh" contype="0"
+                    conaffinity="0" group="1" density="0" mesh="right_thumb3_vis" />
+                  <geom name="collision_hand_right_thumb_3" type="capsule" size="0.006 0.010"
+                    pos="-0.010 0 0" group="3" rgba="0 1 0 1" />
+                  <site name="trace_hand_right_thumb_tip" pos="-0.026822 -0.00565 0" size="0.005"
+                    rgba="1 0 0 1" />
+                  <site name="track_hand_right_thumb_tip" pos="-0.026822 -0.00565 0" size="0.005"
+                    rgba="0 0 1 1" />
+                  <site name="right_thumb_tip" pos="-0.026822 -0.00565 0" quat="1 0 0 0" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Base joints -->
+    <position name="right_pos_x" joint="right_pos_x" class="right_base_slide" />
+    <position name="right_pos_y" joint="right_pos_y" class="right_base_slide" />
+    <position name="right_pos_z" joint="right_pos_z" class="right_base_slide" />
+    <position name="right_rot_x" joint="right_rot_x" class="right_base_hinge" />
+    <position name="right_rot_y" joint="right_rot_y" class="right_base_hinge" />
+    <position name="right_rot_z" joint="right_rot_z" class="right_base_hinge" />
+
+    <!-- Index finger joints -->
+    <position name="right_j_index1y_position" joint="right_j_index1y" kp="300" />
+    <position name="right_j_index1z_position" joint="right_j_index1z" kp="300" />
+    <position name="right_j_index2_position" joint="right_j_index2" kp="300" />
+    <position name="right_j_index3_position" joint="right_j_index3" kp="300" />
+
+    <!-- Middle finger joints -->
+    <position name="right_j_middle1y_position" joint="right_j_middle1y" kp="300" />
+    <position name="right_j_middle1z_position" joint="right_j_middle1z" kp="300" />
+    <position name="right_j_middle2_position" joint="right_j_middle2" kp="300" />
+    <position name="right_j_middle3_position" joint="right_j_middle3" kp="300" />
+
+    <!-- Pinky finger joints -->
+    <position name="right_j_pinky1y_position" joint="right_j_pinky1y" kp="300" />
+    <position name="right_j_pinky1z_position" joint="right_j_pinky1z" kp="300" />
+    <position name="right_j_pinky2_position" joint="right_j_pinky2" kp="300" />
+    <position name="right_j_pinky3_position" joint="right_j_pinky3" kp="300" />
+
+    <!-- Ring finger joints -->
+    <position name="right_j_ring1y_position" joint="right_j_ring1y" kp="300" />
+    <position name="right_j_ring1z_position" joint="right_j_ring1z" kp="300" />
+    <position name="right_j_ring2_position" joint="right_j_ring2" kp="300" />
+    <position name="right_j_ring3_position" joint="right_j_ring3" kp="300" />
+
+    <!-- Thumb joints -->
+    <position name="right_j_thumb1x_position" joint="right_j_thumb1x" kp="300" />
+    <position name="right_j_thumb1y_position" joint="right_j_thumb1y" kp="300" />
+    <position name="right_j_thumb1z_position" joint="right_j_thumb1z" kp="300" />
+    <position name="right_j_thumb2y_position" joint="right_j_thumb2y" kp="300" />
+    <position name="right_j_thumb2z_position" joint="right_j_thumb2z" kp="300" />
+    <position name="right_j_thumb3_position" joint="right_j_thumb3" kp="300" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/metahand/assets/base_link.stl b/processed/hot3d/assets/robots/metahand/assets/base_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..03c7eac6fa285e76d440f0a550288ad1c668ce2e
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/base_link.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4060e1ae52bca21367e15a1dfab16bc7c2e81849566631b7f55e2cf376b7bc85
+size 163884
diff --git a/processed/hot3d/assets/robots/metahand/assets/base_link_left.stl b/processed/hot3d/assets/robots/metahand/assets/base_link_left.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c5de2bb49dbdd725e43f77ce0b1eb7c4a858fa48
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/base_link_left.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f66c1cb8d27b9f07e49101a7997a49c60d3cc3ccbc8de96065322df68f47a0b
+size 433984
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_0.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_0.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2d066dea889e2a0d3afd65cb8e09f4c6ff174f3a
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_0.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b90a6744d472a6ffaee02cbf32eb8a5600b1da0944e86aeb9f53503a9f8ac9
+size 57584
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_1.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_1.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8279f4250ce3f3c1eeca3bf61d2ca3e733a71b9a
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_1.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3dfb35b6682f62f18ca6ed0b39cb94ff627b68e0e3373cf7212390574604680
+size 70084
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_12.0_left.stl b/processed/hot3d/assets/robots/metahand/assets/link_12.0_left.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c704a263b02e20a5e0da5a99a01511b5875c511c
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_12.0_left.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1749ba567bf36729a81eaecf384bc4f5483be8c496af54d230500b96f1d81dcc
+size 217084
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_12.0_right.stl b/processed/hot3d/assets/robots/metahand/assets/link_12.0_right.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4cdece39a4066333b547f69af040b897981b845d
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_12.0_right.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5418fc127311eefee1d8ee69dfcfde2157d038286900bee91608d2701b00f13
+size 204284
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_13.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_13.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..1ac764462597afa98f92ab547a10433343021734
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_13.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e906896afc078a12c9c377e3a2b07f375583d3b869581f9962030cabc888be29
+size 22484
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_14.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_14.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..e2be95ff24f0ef2ff2bb9c654b4cfe3a4d1018e0
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_14.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e4983e4bff7fc7d868b4965c9865edb2669b946434095703766202b5de01ff
+size 46884
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_15.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_15.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f432dea4aae0c979edcd9fae87175f94a1545386
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_15.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf963adb775b79b27649f4f5dff4ced58ef676ce86cc677de49d3810382d11e0
+size 43284
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_15.0_tip.stl b/processed/hot3d/assets/robots/metahand/assets/link_15.0_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6ef35f7ffc20beba29ce6971ded8f317c5633f63
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_15.0_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7147c765d4b6d2eb16fa14bba2e8eceec4a750bc346260893ca02aca1fd7a63
+size 71984
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_2.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_2.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bcd74eb52725ac4e1ae7b10cacbaeb95f9cea4ca
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_2.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c98477c65b45f5a3de1df0e1b54281da2385f4eafd057d103ab40893771c2d0
+size 52884
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_3.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_3.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c8f6b471e44adaff665b3d2c6a71f38b2b7357fd
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_3.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe333088176395aa7d8a913aa953d3cd649c4c77753224239b78b2c99e3e314c
+size 18084
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_3.0_tip.stl b/processed/hot3d/assets/robots/metahand/assets/link_3.0_tip.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f7637c75fcfd38c54574fcf1a292aced794ae517
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_3.0_tip.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3fa04fea0dfa1257c8a1b02d2b7d982b0d985c1ddda1edf148827944835f39
+size 71984
diff --git a/processed/hot3d/assets/robots/metahand/assets/link_4.0.stl b/processed/hot3d/assets/robots/metahand/assets/link_4.0.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b835ca91b5cda846d6e04e108e2e15b72162b3c7
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/assets/link_4.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80ac4d443169c56507afaa0b3c72ec3679312bc80cbaebd03e73e96dd18c408
+size 22884
diff --git a/processed/hot3d/assets/robots/metahand/bimanual.xml b/processed/hot3d/assets/robots/metahand/bimanual.xml
new file mode 100644
index 0000000000000000000000000000000000000000..debb1c3e9ab50d0402f803f629151d5135f7d271
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/bimanual.xml
@@ -0,0 +1,4 @@
+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/metahand/left.xml b/processed/hot3d/assets/robots/metahand/left.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6f06e6b2cd9d2fa3b0f202c23bc4f93908d8867
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/left.xml
@@ -0,0 +1,311 @@
+<mujoco model="metahand_left">
+  <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+  <option timestep="0.01"
+    iterations="10" ls_iterations="50">
+    <flag eulerdamp="disable" />
+  </option>
+
+  <default>
+    <default class="mimic_left">
+      <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+    </default>
+    <default class="metahand_left">
+      <joint axis="0 1 0" armature="1.0" damping="0.0" />
+      <!-- <joint axis="0 1 0" damping="0.2" armature="0.00149376"
+        actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" /> -->
+      <position kp="300" dampratio="1.0" />
+      <geom density="800" />
+
+      <default class="left_visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black" />
+        <default class="left_palm_visual">
+          <geom mesh="left_base_link" />
+        </default>
+        <default class="left_base_visual">
+          <geom mesh="left_link_0.0" />
+        </default>
+        <default class="left_proximal_visual">
+          <geom mesh="left_link_1.0" />
+        </default>
+        <default class="left_medial_visual">
+          <geom mesh="left_link_2.0" />
+        </default>
+        <default class="left_distal_visual">
+          <geom mesh="left_link_3.0" />
+        </default>
+        <default class="left_fingertip_visual">
+          <geom pos="0 0 0.0515" material="left_white" mesh="left_link_3.0_tip" />
+        </default>
+        <default class="left_thumbtip_visual">
+          <geom pos="0 0 0.0671" material="left_white" mesh="left_link_15.0_tip" />
+        </default>
+      </default>
+
+      <default class="left_collision">
+        <!-- disable all collisions, use explicit collision pairs -->
+        <geom group="3" type="box" mass="0" condim="1" contype="0" conaffinity="0" />
+        <default class="left_palm_collision">
+          <geom size="0.0204 0.0565 0.0475" pos="-0.0093 0 -0.0475" />
+        </default>
+        <default class="left_base_collision">
+          <geom size="0.0098 0.01375 0.0082" pos="0 0 0.0082" />
+          <default class="left_thumb_base_collision">
+            <geom size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145" />
+          </default>
+        </default>
+        <default class="left_proximal_collision">
+          <geom size="0.0098 0.01375 0.027" pos="0 0 0.027" />
+          <default class="left_thumb_proximal_collision">
+            <geom size="0.0098 0.01375 0.00885" pos="0 0 0.00885" />
+          </default>
+        </default>
+        <default class="left_medial_collision">
+          <geom size="0.0098 0.01375 0.0192" pos="0 0 0.0192" />
+          <default class="left_thumb_medial_collision">
+            <geom size="0.0098 0.01375 0.0257" pos="0 0 0.0257" />
+          </default>
+        </default>
+        <default class="left_distal_collision">
+          <geom size="0.0098 0.01375 0.008" pos="0 0 0.008" />
+          <default class="left_thumb_distal_collision">
+            <geom size="0.0098 0.01375 0.0157" pos="0 0 0.0157" />
+          </default>
+        </default>
+        <default class="left_fingertip_collision">
+          <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0515" /> -->
+          <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0515" />
+          <default class="left_thumbtip_collision">
+            <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0671" /> -->
+            <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0671" />
+          </default>
+        </default>
+      </default>
+
+      <default class="left_base_slide">
+        <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
+          actuatorfrcrange="-1000.0 1000.0" />
+        <position ctrlrange="-3.0 3.0" kp="1000" dampratio="1.0" />
+      </default>
+      <default class="left_base_hinge">
+        <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
+          actuatorfrcrange="-1000.0 1000.0" />
+        <position ctrlrange="-6.28 6.28" kp="1000" dampratio="1.0" />
+      </default>
+      <default class="left_base">
+        <joint axis="0 0 1" range="-0.47 0.47" />
+        <position ctrlrange="-0.47 0.47" />
+      </default>
+      <default class="left_proximal">
+        <joint range="0.196 1.61" />
+        <position ctrlrange="0.196 1.61" />
+      </default>
+      <default class="left_medial">
+        <joint range="0.174 1.709" />
+        <position ctrlrange="0.174 1.709" />
+      </default>
+      <default class="left_distal">
+        <joint range="0.227 1.618" />
+        <position ctrlrange="0.227 1.618" />
+      </default>
+      <default class="left_thumb_base">
+        <joint axis="1 0 0" range="0.263 1.396" />
+        <position ctrlrange="0.263 1.396" />
+      </default>
+      <default class="left_thumb_proximal">
+        <joint axis="0 0 1" range="0.105 1.163" />
+        <position ctrlrange="0.105 1.163" />
+      </default>
+      <default class="left_thumb_medial">
+        <joint range="0.189 1.644" />
+        <position ctrlrange="0.189 1.644" />
+      </default>
+      <default class="left_thumb_distal">
+        <joint range="0.162 1.719" />
+        <position ctrlrange="0.162 1.719" />
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="left_black" rgba="0.2 0.2 0.2 1" />
+    <material name="left_white" rgba="0.9 0.9 0.9 1" />
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+      height="3072" />
+    <texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+
+    <mesh name="left_base_link" file="base_link_left.stl" />
+    <mesh name="left_link_0.0" file="link_0.0.stl" />
+    <mesh name="left_link_1.0" file="link_1.0.stl" />
+    <mesh name="left_link_2.0" file="link_2.0.stl" />
+    <mesh name="left_link_3.0" file="link_3.0.stl" />
+    <mesh name="left_link_3.0_tip" file="link_3.0_tip.stl" />
+    <mesh name="left_link_12.0_left" file="link_12.0_left.stl" />
+    <mesh name="left_link_13.0" file="link_13.0.stl" />
+    <mesh name="left_link_14.0" file="link_14.0.stl" />
+    <mesh name="left_link_15.0" file="link_15.0.stl" />
+    <mesh name="left_link_15.0_tip" file="link_15.0_tip.stl" />
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+    <body name="left_palm" quat="0 0 1 -1" childclass="metahand_left" gravcomp="1">
+      <!-- <inertial mass="0.4154" pos="0 0 0.0475" diaginertia="1e-4 1e-4 1e-4"/> -->
+      <camera name="left_track" pos="0.868 -0.348 -0.175"
+        xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+      <site name="left_palm" pos="0 0 0" quat="1 0 0 0" class="mimic_left" type="box"
+        size="0.01 0.02 0.03" />
+      <joint name="left_pos_x" axis="1 0 0" class="left_base_slide" />
+      <joint name="left_pos_y" axis="0 1 0" class="left_base_slide" />
+      <joint name="left_pos_z" axis="0 0 1" class="left_base_slide" />
+      <joint name="left_rot_x" axis="1 0 0" class="left_base_hinge" />
+      <joint name="left_rot_y" axis="0 1 0" class="left_base_hinge" />
+      <joint name="left_rot_z" axis="0 0 1" class="left_base_hinge" />
+      <geom quat="1 -1 0 0" class="left_palm_visual" mesh="left_base_link" />
+      <geom name="collision_hand_left_palm_0" class="left_palm_collision" />
+      <!-- Ring finger -->
+      <body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
+        <joint name="left_ring_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+
+        <body name="left_rf_proximal" pos="0 0 0.0164">
+          <joint name="left_ring_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="collision_hand_left_ring_2" class="left_proximal_collision" />
+          <body name="left_rf_medial" pos="0 0 0.054">
+            <joint name="left_ring_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="collision_hand_left_ring_1" class="left_medial_collision" />
+            <body name="left_rf_distal" pos="0 0 0.0384">
+              <joint name="left_ring_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+
+              <body name="left_rf_tip">
+                <site name="left_ring_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="track_hand_left_ring_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="trace_left_ring_tip" pos="0 0 0.0515" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="collision_hand_left_ring_0" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- Middle finger -->
+      <body name="left_mf_base" pos="0 0 0.0007">
+        <joint name="left_middle_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+
+        <body name="left_mf_proximal" pos="0 0 0.0164">
+          <joint name="left_middle_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="collision_hand_left_middle_2" class="left_proximal_collision" />
+          <body name="left_mf_medial" pos="0 0 0.054">
+            <joint name="left_middle_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="collision_hand_left_middle_1" class="left_medial_collision" />
+            <body name="left_mf_distal" pos="0 0 0.0384">
+              <joint name="left_middle_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+
+              <body name="left_mf_tip">
+                <site name="left_middle_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="track_hand_left_middle_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="trace_left_middle_tip" pos="0 0 0.0515" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="collision_hand_left_middle_0" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- First finger -->
+      <body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
+        <joint name="left_index_base_joint" class="left_base" />
+        <geom class="left_base_visual" />
+
+        <body name="left_ff_proximal" pos="0 0 0.0164">
+          <joint name="left_index_proximal_joint" class="left_proximal" />
+          <geom class="left_proximal_visual" />
+          <geom name="collision_hand_left_index_2" class="left_proximal_collision" />
+          <body name="left_ff_medial" pos="0 0 0.054">
+            <joint name="left_index_medial_joint" class="left_medial" />
+            <geom class="left_medial_visual" />
+            <geom name="collision_hand_left_index_1" class="left_medial_collision" />
+            <body name="left_ff_distal" pos="0 0 0.0384">
+              <joint name="left_index_distal_joint" class="left_distal" />
+              <geom class="left_distal_visual" />
+
+              <body name="left_ff_tip">
+                <site name="left_index_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="track_hand_left_index_tip" pos="0 0 0.0515" class="mimic_left" />
+                <site name="trace_left_index_tip" pos="0 0 0.0515" class="mimic_left" />
+                <geom class="left_fingertip_visual" />
+                <geom name="collision_hand_left_index_0" class="left_fingertip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <!-- Thumb -->
+      <body name="left_th_base" pos="-0.0182 -0.019333 -0.045987"
+        quat="0.477714 0.521334 -0.521334 0.477714">
+        <joint name="left_thumb_base_joint" class="left_thumb_base" />
+        <geom quat="0 1 0 0" class="left_visual" mesh="left_link_12.0_left" />
+
+        <body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
+          <joint name="left_thumb_proximal_joint" class="left_thumb_proximal" />
+          <geom class="left_visual" mesh="left_link_13.0" />
+
+          <body name="left_th_medial" pos="0 0 0.0177">
+            <joint name="left_thumb_medial_joint" class="left_thumb_medial" />
+            <geom class="left_visual" mesh="left_link_14.0" />
+            <geom name="collision_hand_left_thumb_2" class="left_thumb_medial_collision" />
+            <body name="left_th_distal" pos="0 0 0.0514">
+              <joint name="left_thumb_distal_joint" class="left_thumb_distal" />
+              <geom class="left_visual" mesh="left_link_15.0" />
+              <geom name="collision_hand_left_thumb_1" class="left_thumb_distal_collision" />
+              <body name="left_th_tip">
+                <site name="left_thumb_tip" pos="0 0 0.0671" class="mimic_left" />
+                <site name="track_hand_left_thumb_tip" pos="0 0 0.0671" class="mimic_left" />
+                <site name="trace_left_thumb_tip" pos="0 0 0.0671" class="mimic_left" />
+                <geom class="left_thumbtip_visual" />
+                <geom name="collision_hand_left_thumb_0" class="left_thumbtip_collision" />
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <position name="left_pos_x" joint="left_pos_x" class="left_base_slide" />
+    <position name="left_pos_y" joint="left_pos_y" class="left_base_slide" />
+    <position name="left_pos_z" joint="left_pos_z" class="left_base_slide" />
+    <position name="left_rot_x" joint="left_rot_x" class="left_base_hinge" />
+    <position name="left_rot_y" joint="left_rot_y" class="left_base_hinge" />
+    <position name="left_rot_z" joint="left_rot_z" class="left_base_hinge" />
+    <position name="left_rfa0" joint="left_ring_base_joint" class="left_base" />
+    <position name="left_rfa1" joint="left_ring_proximal_joint" class="left_proximal" />
+    <position name="left_rfa2" joint="left_ring_medial_joint" class="left_medial" />
+    <position name="left_rfa3" joint="left_ring_distal_joint" class="left_distal" />
+    <position name="left_mfa0" joint="left_middle_base_joint" class="left_base" />
+    <position name="left_mfa1" joint="left_middle_proximal_joint" class="left_proximal" />
+    <position name="left_mfa2" joint="left_middle_medial_joint" class="left_medial" />
+    <position name="left_mfa3" joint="left_middle_distal_joint" class="left_distal" />
+    <position name="left_ffa0" joint="left_index_base_joint" class="left_base" />
+    <position name="left_ffa1" joint="left_index_proximal_joint" class="left_proximal" />
+    <position name="left_ffa2" joint="left_index_medial_joint" class="left_medial" />
+    <position name="left_ffa3" joint="left_index_distal_joint" class="left_distal" />
+    <position name="left_tha0" joint="left_thumb_base_joint" class="left_thumb_base" />
+    <position name="left_tha1" joint="left_thumb_proximal_joint" class="left_thumb_proximal" />
+    <position name="left_tha2" joint="left_thumb_medial_joint" class="left_thumb_medial" />
+    <position name="left_tha3" joint="left_thumb_distal_joint" class="left_thumb_distal" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/metahand/right.xml b/processed/hot3d/assets/robots/metahand/right.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f1e3870aa81e9532561d62a8ae8de1e93f75c980
--- /dev/null
+++ b/processed/hot3d/assets/robots/metahand/right.xml
@@ -0,0 +1,348 @@
+<mujoco model="metahand_right">
+    <compiler angle="radian" meshdir="assets" autolimits="true" />
+
+    <option timestep="0.01"
+        iterations="10" ls_iterations="50">
+        <flag eulerdamp="disable" />
+    </option>
+
+    <default>
+        <default class="mimic_right">
+            <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
+        </default>
+        <default class="metahand_right">
+            <joint axis="0 1 0" armature="1.0" damping="0.0" />
+            <!-- <joint axis="0 1 0" damping="0.2" armature="0.00149376"
+                actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" /> -->
+            <position kp="300" dampratio="1.0" />
+            <geom density="800" />
+
+            <default class="right_visual">
+                <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
+                <default class="right_palm_visual">
+                    <geom mesh="right_base_link" />
+                </default>
+                <default class="right_base_visual">
+                    <geom mesh="right_link_0.0" />
+                </default>
+                <default class="right_proximal_visual">
+                    <geom mesh="right_link_1.0" />
+                </default>
+                <default class="right_medial_visual">
+                    <geom mesh="right_link_2.0" />
+                </default>
+                <default class="right_distal_visual">
+                    <geom mesh="right_link_3.0" />
+                </default>
+                <default class="right_fingertip_visual">
+                    <geom pos="0 0 0.0515" material="right_white" mesh="right_link_3.0_tip" />
+                </default>
+                <default class="right_thumbtip_visual">
+                    <geom pos="0 0 0.0671" material="right_white" mesh="right_link_15.0_tip" />
+                </default>
+            </default>
+
+            <default class="right_collision">
+                <!-- disable all collisions, use explicit collision pairs -->
+                <geom group="3" type="box" mass="0" condim="1" contype="0" conaffinity="0" />
+                <default class="right_palm_collision">
+                    <geom size="0.0204 0.0565 0.0475" pos="-0.0093 0 -0.0475" />
+                </default>
+                <default class="right_base_collision">
+                    <geom size="0.0098 0.01375 0.0082" pos="0 0 0.0082" />
+                    <default class="right_thumb_base_collision">
+                        <geom size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145" />
+                    </default>
+                </default>
+                <default class="right_proximal_collision">
+                    <geom size="0.0098 0.01375 0.027" pos="0 0 0.027" />
+                    <default class="right_thumb_proximal_collision">
+                        <geom size="0.0098 0.01375 0.00885" pos="0 0 0.00885" />
+                    </default>
+                </default>
+                <default class="right_medial_collision">
+                    <geom size="0.0098 0.01375 0.0192" pos="0 0 0.0192" />
+                    <default class="right_thumb_medial_collision">
+                        <geom size="0.0098 0.01375 0.0257" pos="0 0 0.0257" />
+                    </default>
+                </default>
+                <default class="right_distal_collision">
+                    <geom size="0.0098 0.01375 0.008" pos="0 0 0.008" />
+                    <default class="right_thumb_distal_collision">
+                        <geom size="0.0098 0.01375 0.0157" pos="0 0 0.0157" />
+                    </default>
+                </default>
+                <default class="right_fingertip_collision">
+                    <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0515" /> -->
+                    <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0515" />
+                    <default class="right_thumbtip_collision">
+                        <!-- <geom type="sphere" size="0.01235" pos="0 0 0.0671" /> -->
+                        <geom type="capsule" size="0.01235" fromto="0 0 0 0 0 0.0671" />
+                    </default>
+                </default>
+            </default>
+
+            <default class="right_base_slide">
+                <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
+                    actuatorfrcrange="-1000.0 1000.0" />
+                <position ctrlrange="-3.0 3.0" kp="1000" dampratio="1.0" />
+            </default>
+            <default class="right_base_hinge">
+                <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
+                    actuatorfrcrange="-1000.0 1000.0" />
+                <position ctrlrange="-6.28 6.28" kp="1000" dampratio="1.0" />
+            </default>
+            <default class="right_base">
+                <joint axis="0 0 1" range="-0.47 0.47" />
+                <position ctrlrange="-0.47 0.47" />
+            </default>
+            <default class="right_proximal">
+                <!-- <joint range="-0.196 1.61" />
+                <position ctrlrange="-0.196 1.61" /> -->
+                <joint range="0.196 1.61" />
+                <position ctrlrange="0.196 1.61" />
+            </default>
+            <default class="right_medial">
+                <!-- <joint range="-0.174 1.709" />
+                <position ctrlrange="-0.174 1.709" /> -->
+                <joint range="0.174 1.709" />
+                <position ctrlrange="0.174 1.709" />
+            </default>
+            <default class="right_distal">
+                <!-- <joint range="-0.227 1.618" />
+                <position ctrlrange="-0.227 1.618" /> -->
+                <joint range="0.227 1.618" />
+                <position ctrlrange="0.227 1.618" />
+            </default>
+            <default class="right_thumb_base">
+                <!-- <joint axis="-1 0 0" range="0.263 1.396" />
+                <position ctrlrange="0.263 1.396" /> -->
+                <joint axis="-1 0 0" range="0.263 1.396" />
+                <position ctrlrange="0.263 1.396" />
+            </default>
+            <default class="right_thumb_proximal">
+                <!-- <joint axis="0 0 1" range="-0.105 1.163" />
+                <position ctrlrange="-0.105 1.163" /> -->
+                <joint axis="0 0 1" range="0.105 1.163" />
+                <position ctrlrange="0.105 1.163" />
+            </default>
+            <default class="right_thumb_medial">
+                <!-- <joint range="-0.189 1.644" />
+                <position ctrlrange="-0.189 1.644" /> -->
+                <joint range="0.189 1.644" />
+                <position ctrlrange="0.189 1.644" />
+            </default>
+            <default class="right_thumb_distal">
+                <!-- <joint range="-0.162 1.719" />
+                <position ctrlrange="-0.162 1.719" /> -->
+                <joint range="0.162 1.719" />
+                <position ctrlrange="0.162 1.719" />
+            </default>
+        </default>
+    </default>
+
+
+    <visual>
+        <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9" />
+        <rgba haze="0.15 0.25 0.35 1" />
+        <global azimuth="140" elevation="-20" />
+    </visual>
+
+    <asset>
+        <material name="right_black" rgba="0.2 0.2 0.2 1" />
+        <material name="right_white" rgba="0.9 0.9 0.9 1" />
+        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+            height="3072" />
+        <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+            rgb2="0.1 0.2 0.3"
+            markrgb="0.8 0.8 0.8" width="300" height="300" />
+        <material name="right_groundplane" texture="right_groundplane" texuniform="true"
+            texrepeat="5 5"
+            reflectance="0.2" />
+
+        <mesh name="right_base_link" file="base_link.stl" />
+        <mesh name="right_link_0.0" file="link_0.0.stl" />
+        <mesh name="right_link_1.0" file="link_1.0.stl" />
+        <mesh name="right_link_2.0" file="link_2.0.stl" />
+        <mesh name="right_link_3.0" file="link_3.0.stl" />
+        <mesh name="right_link_3.0_tip" file="link_3.0_tip.stl" />
+        <mesh name="right_link_12.0_right" file="link_12.0_right.stl" />
+        <mesh name="right_link_13.0" file="link_13.0.stl" />
+        <mesh name="right_link_14.0" file="link_14.0.stl" />
+        <mesh name="right_link_15.0" file="link_15.0.stl" />
+        <mesh name="right_link_15.0_tip" file="link_15.0_tip.stl" />
+    </asset>
+
+    <worldbody>
+        <light pos="0 0 3.5" dir="0 0 -1" directional="false" />
+        <body name="right_palm" quat="0 0 -1 1" childclass="metahand_right" gravcomp="1">
+            <!-- <inertial mass="0.4154" pos="0 0 0.0475" diaginertia="1e-4 1e-4 1e-4"/> -->
+            <site name="right_palm" pos="0 0 0" quat="1 0 0 0" class="mimic_right"
+                type="box"
+                size="0.01 0.02 0.03" />
+            <joint name="right_pos_x" axis="1 0 0" class="right_base_slide" />
+            <joint name="right_pos_y" axis="0 1 0" class="right_base_slide" />
+            <joint name="right_pos_z" axis="0 0 1" class="right_base_slide" />
+            <joint name="right_rot_x" axis="1 0 0" class="right_base_hinge" />
+            <joint name="right_rot_y" axis="0 1 0" class="right_base_hinge" />
+            <joint name="right_rot_z" axis="0 0 1" class="right_base_hinge" />
+            <geom class="right_palm_visual" mesh="right_base_link" />
+            <geom name="collision_hand_right_palm_0" class="right_palm_collision" />
+            <!-- First finger -->
+            <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" />
+                <geom class="right_base_visual" />
+
+                <body name="right_ff_proximal" pos="0 0 0.0164">
+                    <joint name="right_index_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="collision_hand_right_index_2" class="right_proximal_collision" />
+                    <body name="right_ff_medial" pos="0 0 0.054">
+                        <joint name="right_index_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="collision_hand_right_index_1"
+                            class="right_medial_collision" />
+                        <body name="right_ff_distal" pos="0 0 0.0384">
+                            <joint name="right_index_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+
+                            <body name="right_ff_tip">
+                                <site name="right_index_tip" pos="0 0 0.0515" class="mimic_right" />
+                                <site name="track_hand_right_index_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <site name="trace_right_index_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="collision_hand_right_index_0"
+                                    class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Middle finger -->
+            <body name="right_mf_base" pos="0 0 0.0007">
+                <joint name="right_middle_base_joint" class="right_base" />
+                <geom class="right_base_visual" />
+
+                <body name="right_mf_proximal" pos="0 0 0.0164">
+                    <joint name="right_middle_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="collision_hand_right_middle_2" class="right_proximal_collision" />
+                    <body name="right_mf_medial" pos="0 0 0.054">
+                        <joint name="right_middle_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="collision_hand_right_middle_1"
+                            class="right_medial_collision" />
+                        <body name="right_mf_distal" pos="0 0 0.0384">
+                            <joint name="right_middle_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+
+                            <body name="right_mf_tip">
+                                <site name="right_middle_tip" pos="0 0 0.0515" class="mimic_right" />
+                                <site name="track_hand_right_middle_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <site name="trace_right_middle_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="collision_hand_right_middle_0"
+                                    class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Ring finger -->
+            <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" />
+                <geom class="right_base_visual" />
+
+                <body name="right_rf_proximal" pos="0 0 0.0164">
+                    <joint name="right_ring_proximal_joint" class="right_proximal" />
+                    <geom class="right_proximal_visual" />
+                    <geom name="collision_hand_right_ring_2" class="right_proximal_collision" />
+                    <body name="right_rf_medial" pos="0 0 0.054">
+                        <joint name="right_ring_medial_joint" class="right_medial" />
+                        <geom class="right_medial_visual" />
+                        <geom name="collision_hand_right_ring_1"
+                            class="right_medial_collision" />
+                        <body name="right_rf_distal" pos="0 0 0.0384">
+                            <joint name="right_ring_distal_joint" class="right_distal" />
+                            <geom class="right_distal_visual" />
+
+                            <body name="right_rf_tip">
+                                <site name="right_ring_tip" pos="0 0 0.0515" class="mimic_right" />
+                                <site name="track_hand_right_ring_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <site name="trace_right_ring_tip" pos="0 0 0.0515"
+                                    class="mimic_right" />
+                                <geom class="right_fingertip_visual" />
+                                <geom name="collision_hand_right_ring_0"
+                                    class="right_fingertip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <!-- Thumb -->
+            <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" />
+                <geom class="right_visual" mesh="right_link_12.0_right" />
+
+                <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
+                    <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" />
+                    <geom class="right_visual" mesh="right_link_13.0" />
+
+                    <body name="right_th_medial" pos="0 0 0.0177">
+                        <joint name="right_thumb_medial_joint" class="right_thumb_medial" />
+                        <geom class="right_visual" mesh="right_link_14.0" />
+                        <geom name="collision_hand_right_thumb_2"
+                            class="right_thumb_medial_collision" />
+                        <body name="right_th_distal" pos="0 0 0.0514">
+                            <joint name="right_thumb_distal_joint" class="right_thumb_distal" />
+                            <geom class="right_visual" mesh="right_link_15.0" />
+                            <geom name="collision_hand_right_thumb_1"
+                                class="right_thumb_distal_collision" />
+                            <body name="right_th_tip">
+                                <site name="right_thumb_tip" pos="0 0 0.0671" class="mimic_right" />
+                                <site name="track_hand_right_thumb_tip" pos="0 0 0.0671"
+                                    class="mimic_right" />
+                                <site name="trace_right_thumb_tip" pos="0 0 0.0671"
+                                    class="mimic_right" />
+                                <geom class="right_thumbtip_visual" />
+                                <geom name="collision_hand_right_thumb_0"
+                                    class="right_thumbtip_collision" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+    <actuator>
+        <position name="right_pos_x" joint="right_pos_x" class="right_base_slide" />
+        <position name="right_pos_y" joint="right_pos_y" class="right_base_slide" />
+        <position name="right_pos_z" joint="right_pos_z" class="right_base_slide" />
+        <position name="right_rot_x" joint="right_rot_x" class="right_base_hinge" />
+        <position name="right_rot_y" joint="right_rot_y" class="right_base_hinge" />
+        <position name="right_rot_z" joint="right_rot_z" class="right_base_hinge" />
+        <position name="right_ffa0" joint="right_index_base_joint" class="right_base" />
+        <position name="right_ffa1" joint="right_index_proximal_joint" class="right_proximal" />
+        <position name="right_ffa2" joint="right_index_medial_joint" class="right_medial" />
+        <position name="right_ffa3" joint="right_index_distal_joint" class="right_distal" />
+        <position name="right_mfa0" joint="right_middle_base_joint" class="right_base" />
+        <position name="right_mfa1" joint="right_middle_proximal_joint" class="right_proximal" />
+        <position name="right_mfa2" joint="right_middle_medial_joint" class="right_medial" />
+        <position name="right_mfa3" joint="right_middle_distal_joint" class="right_distal" />
+        <position name="right_rfa0" joint="right_ring_base_joint" class="right_base" />
+        <position name="right_rfa1" joint="right_ring_proximal_joint" class="right_proximal" />
+        <position name="right_rfa2" joint="right_ring_medial_joint" class="right_medial" />
+        <position name="right_rfa3" joint="right_ring_distal_joint" class="right_distal" />
+        <position name="right_tha0" joint="right_thumb_base_joint" class="right_thumb_base" />
+        <position name="right_tha1" joint="right_thumb_proximal_joint" class="right_thumb_proximal" />
+        <position name="right_tha2" joint="right_thumb_medial_joint" class="right_thumb_medial" />
+        <position name="right_tha3" joint="right_thumb_distal_joint" class="right_thumb_distal" />
+    </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/schunk/assets/base10.obj b/processed/hot3d/assets/robots/schunk/assets/base10.obj
new file mode 100644
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--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/assets/base10.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..1cbdc2a2193108f0097fb51a168d5fdaedc21f63
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/hot3d/assets/robots/schunk/assets/d11_left.obj b/processed/hot3d/assets/robots/schunk/assets/d11_left.obj
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/processed/hot3d/assets/robots/schunk/assets/f42.obj b/processed/hot3d/assets/robots/schunk/assets/f42.obj
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/hot3d/assets/robots/schunk/assets/finger.mtl b/processed/hot3d/assets/robots/schunk/assets/finger.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4f82d1be04f85a3e13b22d6a751c80f32796f5e
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/assets/finger.mtl
@@ -0,0 +1,52 @@
+# Blender 3.6.1 MTL File: 'model.blend'
+# www.blender.org
+
+newmtl Gummi_final
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.100000 0.100000 0.100000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Kunststoff_druckteile_final
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.491020 0.496932 0.527115
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Metall_Alu_final
+Ns 640.000000
+Ka 0.800000 0.800000 0.800000
+Kd 0.799102 0.806952 0.846873
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 2.000000
+d 1.000000
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+
+newmtl Metall_Daumen
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+Ks 0.700000 0.700000 0.700000
+Ke 0.000000 0.000000 0.000000
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+d 1.000000
+illum 3
+
+newmtl Metall_goeldlich
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+Ka 1.000000 1.000000 1.000000
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+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/schunk/assets/finger_tip.obj b/processed/hot3d/assets/robots/schunk/assets/finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62af0bee9399a2e75d64490dd8bdd1ddf0a1cb90
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/assets/finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18124aa5471efceab687cf6ec2188bb5960ce8ac10caea823a45ea8343823d30
+size 32466
diff --git a/processed/hot3d/assets/robots/schunk/assets/h10.obj b/processed/hot3d/assets/robots/schunk/assets/h10.obj
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 118254
diff --git a/processed/hot3d/assets/robots/schunk/assets/h10_left.obj b/processed/hot3d/assets/robots/schunk/assets/h10_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c4e0a99b73734ddbb28110801c7fa9a47a4f0b
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/assets/h10_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6c988c110d09d3240e12cd8c3f11c5ef5e6134cfded783f1ccb5f413f539f60
+size 118162
diff --git a/processed/hot3d/assets/robots/schunk/assets/h11.obj b/processed/hot3d/assets/robots/schunk/assets/h11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ca59c3e22534704dea3b29656a24da21f39f83b
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/assets/h11.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5d99a41e890c420a061bf5296b37e090d9aee09791432bf6cfc1ef34361944
+size 91231
diff --git a/processed/hot3d/assets/robots/schunk/assets/h11_left.obj b/processed/hot3d/assets/robots/schunk/assets/h11_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5135a425e630b8e881bbd49728916e40b7b65ded
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/assets/h11_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d8e18ee47faa08ac7e43fcc91334b5014382e85cb5eda9c9056a8c2520736f
+size 91965
diff --git a/processed/hot3d/assets/robots/schunk/assets/palm.mtl b/processed/hot3d/assets/robots/schunk/assets/palm.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8c40f69c5d31d87ed01b57f499f0733e2996b12
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/assets/palm.mtl
@@ -0,0 +1,72 @@
+# Blender 3.6.1 MTL File: 'model.blend'
+# www.blender.org
+
+newmtl Kunststoff_Schwarz
+Ns 640.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.070000 0.070000 0.070000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Gummi_final
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.100000 0.100000 0.100000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Kunststoff_druckschwwarz
+Ns 640.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.200000 0.200000 0.200000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Kunststoff_druckteile_final
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.491020 0.496932 0.527115
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Metall_Alu_final
+Ns 640.000000
+Ka 0.800000 0.800000 0.800000
+Kd 0.799102 0.806952 0.846873
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 2.000000
+d 1.000000
+illum 3
+
+newmtl Metall_Daumen
+Ns 490.000000
+Ka 0.800000 0.800000 0.800000
+Kd 0.350000 0.350000 0.350000
+Ks 0.700000 0.700000 0.700000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
+
+newmtl Metall_goeldlich
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.831000 0.686000 0.216000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
diff --git a/processed/hot3d/assets/robots/schunk/bimanual.xml b/processed/hot3d/assets/robots/schunk/bimanual.xml
new file mode 100644
index 0000000000000000000000000000000000000000..debb1c3e9ab50d0402f803f629151d5135f7d271
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/bimanual.xml
@@ -0,0 +1,4 @@
+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/schunk/left.xml b/processed/hot3d/assets/robots/schunk/left.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db635e04aa3e0891d33af8b59c80bcd3a4a6ce6d
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/left.xml
@@ -0,0 +1,310 @@
+<mujoco model="svh">
+  <compiler angle="radian" meshdir="assets/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
+      height="3072" />
+    <texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"
+      reflectance="0.2" />
+
+    <mesh name="left_d11" file="d11_left.obj" />
+    <mesh name="left_d12" file="d12_left.obj" />
+    <mesh name="left_d13" file="d13_left.obj" />
+    <mesh name="left_f11" file="f11.obj" />
+    <mesh name="left_f12" file="f12.obj" />
+    <mesh name="left_finger_tip" file="finger_tip.obj" />
+    <mesh name="left_f21" file="f21.obj" />
+    <mesh name="left_f22_f32" file="f22_f32.obj" />
+    <mesh name="left_f31" file="f31.obj" />
+    <mesh name="left_f41" file="f41.obj" />
+    <mesh name="left_f42" file="f42.obj" />
+  </asset>
+
+  <worldbody>
+    <body name="left_pos_x_link">
+      <camera name="left_track" pos="0.868 -0.348 -0.175"
+        xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324"
+                  quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112"
+                  diaginertia="0.0865419 0.0593417 0.0588699" />
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2" />
+
+                <!-- Palm visuals -->
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder" />
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box" />
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box" />
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+
+                <!-- Collision: palm -->
+                <geom name="collision_hand_left_palm_0" type="box" size="0.03 0.02 0.04"
+                  pos="0 -0.01 0.06" rgba="0 1 0 1" group="3" />
+                <site name="left_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="1 0 0 1" />
+
+                <!-- Thumb -->
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0"
+                  quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043"
+                    mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596"
+                    quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019"
+                      quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222"
+                      diaginertia="0.01796 0.016832 0.00408805" />
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0" />
+                    <geom type="mesh" mesh="left_d11" />
+                    <geom name="collision_hand_left_thumb_2" type="capsule" size="0.01"
+                      fromto="0 0 0 0.055 0 0" rgba="0 1 0 1" group="3" />
+                    <body name="left_hand_thumb_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05"
+                        quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224"
+                        diaginertia="0.00139495 0.00103 0.000885049" />
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0" />
+                      <geom type="mesh" mesh="left_d12" />
+                      <geom name="collision_hand_left_thumb_1" type="capsule" size="0.008"
+                        fromto="0 0 0 0.03 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                          diaginertia="2e-05 2e-05 1e-05" />
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0" />
+                        <geom type="mesh" mesh="left_d13" />
+                        <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008"
+                          fromto="0 0 0 0.02 0 0" rgba="0 1 0 1" group="3" />
+                        <site name="left_thumb_tip" pos="0.02 0 0" />
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0" />
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+
+                <!-- Ring and Pinky base block -->
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449"
+                    quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184"
+                    diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0" />
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box" />
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655"
+                    quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079"
+                      quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377"
+                      diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0"
+                        quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377"
+                        diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f31" />
+                      <geom name="collision_hand_left_ring_2" type="capsule" size="0.008"
+                        fromto="0 0 0 0.05004 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207"
+                          diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f22_f32" />
+                        <geom name="collision_hand_left_ring_1" type="capsule" size="0.008"
+                          fromto="0 0 0 0.032 0 0" rgba="0 1 0 1" group="3" />
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                            diaginertia="2e-05 2e-05 1e-05" />
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395" />
+                          <geom type="mesh" mesh="left_finger_tip" />
+                          <geom name="collision_hand_left_ring_0" type="sphere" size="0.01"
+                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                          <site name="left_ring_tip" pos="0.01 0 0.00" />
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0.00" />
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0.00" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056"
+                    quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085"
+                      quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377"
+                      diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0"
+                        quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544"
+                        diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="left_f41" />
+                      <geom name="collision_hand_left_pinky_2" type="capsule" size="0.008"
+                        fromto="0 0 0 0.04454 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                          diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="left_f42" />
+                        <geom name="collision_hand_left_pinky_1" type="capsule" size="0.008"
+                          fromto="0 0 0 0.022 0 0" rgba="0 1 0 1" group="3" />
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                            diaginertia="2e-05 2e-05 1e-05" />
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971" />
+                          <geom type="mesh" mesh="left_finger_tip" />
+                          <geom name="collision_hand_left_pinky_0" type="sphere" size="0.01"
+                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                          <site name="left_pinky_tip" pos="0.01 0 0.00" />
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0.00" />
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0.00" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+
+                <!-- Index finger -->
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11"
+                  quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795"
+                    mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0"
+                      quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003"
+                      diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1"
+                      range="0 0.79849" />
+                    <geom type="mesh" mesh="left_f11" />
+                    <geom name="collision_hand_left_index_2" type="capsule" size="0.008"
+                      fromto="0 0 0 0.04804 0 0" rgba="0 1 0 1" group="3" />
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024"
+                        diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1"
+                        range="0 1.334" />
+                      <geom type="mesh" mesh="left_f12" />
+                      <geom name="collision_hand_left_index_1" type="capsule" size="0.008"
+                        fromto="0 0 0 0.026 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                          diaginertia="2e-05 2e-05 1e-05" />
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394" />
+                        <geom type="mesh" mesh="left_finger_tip" />
+                        <geom name="collision_hand_left_index_0" type="sphere" size="0.01"
+                          rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                        <site name="left_index_tip" pos="0.01 0 0.00" />
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0.00" />
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0.00" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+
+                <!-- Middle finger -->
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11"
+                  quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099"
+                    mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1"
+                    range="0 0.79849" />
+                  <geom type="mesh" mesh="left_f21" />
+                  <geom name="collision_hand_left_middle_2" type="capsule" size="0.008"
+                    fromto="0 0 0 0.05004 0 0" rgba="0 1 0 1" group="3" />
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422"
+                      diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1"
+                      range="0 1.334" />
+                    <geom type="mesh" mesh="left_f22_f32" />
+                    <geom name="collision_hand_left_middle_1" type="capsule" size="0.008"
+                      fromto="0 0 0 0.032 0 0" rgba="0 1 0 1" group="3" />
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                        diaginertia="2e-05 2e-05 1e-05" />
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="left_finger_tip" />
+                      <geom name="collision_hand_left_middle_0" type="sphere" size="0.01"
+                        rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                      <site name="left_middle_tip" pos="0.01 0 0.00" />
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0.00" />
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0.00" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <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_z_position" joint="left_rot_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" />
+
+    <!-- Thumb joints -->
+    <position name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" />
+    <position name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" />
+    <position name="left_thumb_intermediate_position" joint="left_hand_j3" />
+    <position name="left_thumb_distal_position" joint="left_hand_j4" />
+
+    <!-- Index joints -->
+    <position name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" />
+    <position name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" />
+    <position name="left_index_distal_position" joint="left_hand_j14" />
+    <position name="left_index_spread_position" joint="left_hand_index_spread" />
+
+    <!-- Middle joints -->
+    <position name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" />
+    <position name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" />
+    <position name="left_middle_distal_position" joint="left_hand_j15" />
+    <position name="left_block_position" joint="left_hand_block_joint" />
+
+    <!-- Ring joints -->
+    <position name="left_ring_spread_position" joint="left_hand_ring_spread" />
+    <position name="left_ring_proximal_position" joint="left_hand_Ring_Finger" />
+    <position name="left_ring_intermediate_position" joint="left_hand_j12" />
+    <position name="left_ring_distal_position" joint="left_hand_j16" />
+
+    <!-- Pinky joints -->
+    <position name="left_finger_spread_position" joint="left_hand_Finger_Spread" />
+    <position name="left_pinky_proximal_position" joint="left_hand_Pinky" />
+    <position name="left_pinky_intermediate_position" joint="left_hand_j13" />
+    <position name="left_pinky_distal_position" joint="left_hand_j17" />
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/assets/robots/schunk/retarget_config.yaml b/processed/hot3d/assets/robots/schunk/retarget_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e4559240f1cb6407f201b06b3ae0c62e883ebd99
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/retarget_config.yaml
@@ -0,0 +1,43 @@
+low_pass_alpha: 1.0
+scaling_factor: 1.3
+left:
+  urdf_path: schunk_hand_left_6dof.urdf 
+  target_origin_link: "left_hand_base_link"
+  human_origin_idx: 0
+  target_finger_links: ["thtip", "fftip", "mftip", "rftip", "lftip", "left_hand_b", "left_hand_p", "left_hand_o", "left_hand_n", "left_hand_i"]
+  human_finger_idxs:  [16, 17, 18, 19, 20, 14, 2, 5, 11, 8 ]
+  wrist_body: "left_hand_base_link"
+  target_joint_names: [
+    'left_hand_Thumb_Flexion', 
+    'left_hand_Thumb_Opposition', 
+    'left_hand_Index_Finger_Distal', 
+    'left_hand_Index_Finger_Proximal',
+    'left_hand_Middle_Finger_Proximal',
+    'left_hand_Middle_Finger_Distal',
+    'left_hand_Ring_Finger',
+    'left_hand_Pinky',
+    'left_hand_Finger_Spread',
+    'L_forearm_tx_link_joint', 'L_forearm_ty_link_joint', 'L_forearm_tz_link_joint', 'L_forearm_roll_link_joint', 'L_forearm_pitch_link_joint', 'L_forearm_yaw_link_joint']
+
+   
+
+right:
+  urdf_path: schunk_hand_right_6dof.urdf 
+  target_origin_link: "right_hand_base_link"
+  human_origin_idx: 0
+  target_finger_links: ["thtip", "fftip", "mftip", "rftip", "lftip", "right_hand_b", "right_hand_p", "right_hand_o", "right_hand_n", "right_hand_i"]
+  human_finger_idxs:  [16, 17, 18, 19, 20, 14, 2, 5, 11, 8 ] 
+  wrist_body: "right_hand_base_link"
+  target_joint_names: [
+    'right_hand_Thumb_Flexion',
+    'right_hand_Thumb_Opposition',
+    'right_hand_Index_Finger_Distal',
+    'right_hand_Index_Finger_Proximal',
+    'right_hand_Middle_Finger_Proximal',
+    'right_hand_Middle_Finger_Distal',
+    'right_hand_Ring_Finger',
+    'right_hand_Pinky',
+    'right_hand_Finger_Spread', 'R_forearm_tx_link_joint', 'R_forearm_ty_link_joint', 
+    'R_forearm_tz_link_joint', 'R_forearm_roll_link_joint', 'R_forearm_pitch_link_joint', 'R_forearm_yaw_link_joint']
+
+  
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/schunk/right.xml b/processed/hot3d/assets/robots/schunk/right.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c24d9d360c2399e995b515aa7545e5d18c8df7fb
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/right.xml
@@ -0,0 +1,301 @@
+<mujoco model="svh">
+  <compiler angle="radian" meshdir="assets/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512"
+      height="3072" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1"
+      rgb2="1 1 1" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
+      reflectance="0.2" />
+    <mesh name="right_d11" content_type="model/obj" file="d11.obj" />
+    <mesh name="right_d12" content_type="model/obj" file="d12.obj" />
+    <mesh name="right_d13" content_type="model/obj" file="d13.obj" />
+    <mesh name="right_f11" content_type="model/obj" file="f11.obj" />
+    <mesh name="right_f12" content_type="model/obj" file="f12.obj" />
+    <mesh name="right_finger_tip" content_type="model/obj" file="finger_tip.obj" />
+    <mesh name="right_f21" content_type="model/obj" file="f21.obj" />
+    <mesh name="right_f22_f32" content_type="model/obj" file="f22_f32.obj" />
+    <mesh name="right_f31" content_type="model/obj" file="f31.obj" />
+    <mesh name="right_f41" content_type="model/obj" file="f41.obj" />
+    <mesh name="right_f42" content_type="model/obj" file="f42.obj" />
+  </asset>
+
+  <worldbody>
+    <body name="R_forearm_ty_link">
+      <camera name="right_track" pos="0.868 -0.348 -0.175"
+        xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" />
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324"
+                  quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112"
+                  diaginertia="0.0865419 0.0593417 0.0588699" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2" />
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder" />
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box" />
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box" />
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box" />
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5" />
+
+                <!-- Collision: palm -->
+                <geom name="collision_hand_right_palm_0" type="box" size="0.03 0.02 0.04"
+                  pos="0 -0.01 0.06" rgba="0 1 0 1" group="3" />
+                <site name="right_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="1 0 0 1" />
+                <body name="right_hand_z" pos="-0.0169 0.01313 0"
+                  quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043"
+                    mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103" />
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1"
+                    range="0 0.9879" />
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box" />
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box" />
+                  <body name="right_hand_a" pos="0 0 0.04596"
+                    quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019"
+                      quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222"
+                      diaginertia="0.01796 0.016832 0.00408805" />
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704" />
+                    <geom type="mesh" mesh="right_d11" />
+                    <geom name="collision_hand_right_thumb_2" type="capsule" size="0.01"
+                      fromto="0 0 0 0.055 0 0" rgba="0 1 0 1" group="3" />
+                    <body name="right_hand_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05"
+                        quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224"
+                        diaginertia="0.00139495 0.00103 0.000885049" />
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506" />
+                      <geom type="mesh" mesh="right_d12" />
+                      <geom name="collision_hand_right_thumb_1" type="capsule" size="0.008"
+                        fromto="0 0 0 0.03 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                          diaginertia="2e-05 2e-05 1e-05" />
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406" />
+                        <geom type="mesh" mesh="right_d13" />
+                        <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008"
+                          fromto="0 0 0 0.02 0 0" rgba="0 1 0 1" group="3" />
+                        <site name="right_thumb_tip" pos="0.02 0 0" />
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0" />
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449"
+                    quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184"
+                    diaginertia="0.019814 0.0171408 0.00778522" />
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786" />
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box" />
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box" />
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655"
+                    quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079"
+                      quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377"
+                      diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0"
+                        quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377"
+                        diaginertia="0.00426 0.00411908 0.000540922" />
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1"
+                        range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f31" />
+                      <geom name="collision_hand_right_ring_2" type="capsule" size="0.008"
+                        fromto="0 0 0 0.05004 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207"
+                          diaginertia="0.00047 0.0004 0.00019" />
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f22_f32" />
+                        <geom name="collision_hand_right_ring_1" type="capsule" size="0.008"
+                          fromto="0 0 0 0.032 0 0" rgba="0 1 0 1" group="3" />
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                            diaginertia="2e-05 2e-05 1e-05" />
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395" />
+                          <geom type="mesh" mesh="right_finger_tip" />
+                          <geom name="collision_hand_right_ring_0" type="sphere" size="0.01"
+                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                          <site name="right_ring_tip" pos="0.01 0 0.00" />
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0.00" />
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0.00" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056"
+                    quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085"
+                      quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377"
+                      diaginertia="0.000214142 0.000185858 0.00011" />
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829" />
+                    <geom size="0.01" pos="0 0 -0.00321" />
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0"
+                        quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544"
+                        diaginertia="0.00328 0.00316135 0.000488652" />
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175" />
+                      <geom type="mesh" mesh="right_f41" />
+                      <geom name="collision_hand_right_pinky_2" type="capsule" size="0.008"
+                        fromto="0 0 0 0.04454 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                          diaginertia="2e-06 2e-06 8e-07" />
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                        <geom type="mesh" mesh="right_f42" />
+                        <geom name="collision_hand_right_pinky_1" type="capsule" size="0.008"
+                          fromto="0 0 0 0.022 0 0" rgba="0 1 0 1" group="3" />
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                            diaginertia="2e-05 2e-05 1e-05" />
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971" />
+                          <geom type="mesh" mesh="right_finger_tip" />
+                          <geom name="collision_hand_right_pinky_0" type="sphere" size="0.01"
+                            rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                          <site name="right_pinky_tip" pos="0.01 0 0.00" />
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0.00" />
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0.00" />
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11"
+                  quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795"
+                    mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011" />
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833" />
+                  <geom size="0.01" pos="0 0 0.00121" />
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0"
+                      quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003"
+                      diaginertia="0.00344 0.00335032 0.000509683" />
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1"
+                      range="0 0.79849" />
+                    <geom type="mesh" mesh="right_f11" />
+                    <geom name="collision_hand_right_index_2" type="capsule" size="0.008"
+                      fromto="0 0 0 0.04804 0 0" rgba="0 1 0 1" group="3" />
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024"
+                        diaginertia="1.96667e-06 1.96667e-06 1.96667e-06" />
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1"
+                        range="0 1.334" />
+                      <geom type="mesh" mesh="right_f12" />
+                      <geom name="collision_hand_right_index_1" type="capsule" size="0.008"
+                        fromto="0 0 0 0.026 0 0" rgba="0 1 0 1" group="3" />
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                          diaginertia="2e-05 2e-05 1e-05" />
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394" />
+                        <geom type="mesh" mesh="right_finger_tip" />
+                        <geom name="collision_hand_right_index_0" type="sphere" size="0.01"
+                          rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                        <site name="right_index_tip" pos="0.01 0 0.00" />
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0.00" />
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0.00" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11"
+                  quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099"
+                    mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717" />
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1"
+                    range="0 0.79849" />
+                  <geom type="mesh" mesh="right_f21" />
+                  <geom name="collision_hand_right_middle_2" type="capsule" size="0.008"
+                    fromto="0 0 0 0.05004 0 0" rgba="0 1 0 1" group="3" />
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422"
+                      diaginertia="0.00047 0.0004 0.0002" />
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1"
+                      range="0 1.334" />
+                    <geom type="mesh" mesh="right_f22_f32" />
+                    <geom name="collision_hand_right_middle_1" type="capsule" size="0.008"
+                      fromto="0 0 0 0.032 0 0" rgba="0 1 0 1" group="3" />
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02"
+                        diaginertia="2e-05 2e-05 1e-05" />
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334" />
+                      <geom type="mesh" mesh="right_finger_tip" />
+                      <geom name="collision_hand_right_middle_0" type="sphere" size="0.01"
+                        rgba="0 1 0 1" group="3" pos="0.01 0 0.00" />
+                      <site name="right_middle_tip" pos="0.01 0 0.00" />
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0.00" />
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0.00" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <position name="right_pos_x_position" joint="R_forearm_tx_link_joint" kp="1000" />
+    <position name="right_pos_y_position" joint="R_forearm_ty_link_joint" kp="1000" />
+    <position name="right_pos_z_position" joint="R_forearm_tz_link_joint" kp="1000" />
+    <position name="right_rot_z_position" joint="R_forearm_roll_link_joint" kp="1000" />
+    <position name="right_rot_x_position" joint="R_forearm_pitch_link_joint" kp="1000" />
+    <position name="right_rot_y_position" joint="R_forearm_yaw_link_joint" kp="1000" />
+
+    <!-- Thumb joints -->
+    <position name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" />
+    <position name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" />
+    <position name="right_thumb_intermediate_position" joint="right_hand_j3" />
+    <position name="right_thumb_distal_position" joint="right_hand_j4" />
+
+    <!-- Index joints -->
+    <position name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" />
+    <position name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" />
+    <position name="right_index_distal_position" joint="right_hand_j14" />
+    <position name="right_index_spread_position" joint="right_hand_index_spread" />
+
+    <!-- Middle joints -->
+    <position name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" />
+    <position name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" />
+    <position name="right_middle_distal_position" joint="right_hand_j15" />
+    <position name="right_block_position" joint="right_hand_block_joint" />
+
+    <!-- Ring joints -->
+    <position name="right_ring_spread_position" joint="right_hand_ring_spread" />
+    <position name="right_ring_proximal_position" joint="right_hand_Ring_Finger" />
+    <position name="right_ring_intermediate_position" joint="right_hand_j12" />
+    <position name="right_ring_distal_position" joint="right_hand_j16" />
+
+    <!-- Pinky joints -->
+    <position name="right_finger_spread_position" joint="right_hand_Finger_Spread" />
+    <position name="right_pinky_proximal_position" joint="right_hand_Pinky" />
+    <position name="right_pinky_intermediate_position" joint="right_hand_j13" />
+    <position name="right_pinky_distal_position" joint="right_hand_j17" />
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/assets/robots/schunk/schunk_hand_left_6dof.urdf b/processed/hot3d/assets/robots/schunk/schunk_hand_left_6dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f1fb22a0f96d2506437ecab1fede92f0f30c2c0
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/schunk_hand_left_6dof.urdf
@@ -0,0 +1,605 @@
+<robot name="svh">
+ <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="base_link"/>
+  <joint name="L_forearm_tx_link_joint" type="prismatic">
+    <parent link="L_forearm_tx_link"/>
+    <child link="L_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tx_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_ty_link_joint" type="prismatic">
+    <parent link="L_forearm_ty_link"/>
+    <child link="L_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_ty_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_tz_link_joint" type="prismatic">
+    <parent link="L_forearm_tz_link"/>
+    <child link="L_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tz_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_roll_link_joint" type="revolute">
+    <parent link="L_forearm_roll_link"/>
+    <child link="L_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_roll_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_pitch_link_joint" type="revolute">
+    <parent link="L_forearm_pitch_link"/>
+    <child link="L_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_pitch_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_yaw_link_joint" type="revolute">
+    <parent link="L_forearm_yaw_link"/>
+    <child link="left_hand_base_link"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_yaw_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="root_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="L_forearm_tx_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="left_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.57743"/>
+      <origin xyz="0.0 -2.3e-05 0.139371"/>
+      <inertia ixx="0.04725" ixy="-0.0" ixz="-0.0" iyy="0.04717" iyz="0.0" izz="0.07606"/>
+    </inertial>
+  </link>
+  <link name="left_hand_e1">
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <link name="left_hand_e2">
+
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.46184"/>
+      <origin xyz="0.145071 -0.037868 0.323449"/>
+      <inertia ixx="0.01908" ixy="-0.00121" ixz="-0.00011" iyy="0.01704" iyz="0.00277" izz="0.00862"/>
+    </inertial>
+  </link>
+  <link name="left_hand_z">
+
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0739"/>
+      <origin xyz="0.0 0.002024 0.178636"/>
+      <inertia ixx="0.00103" ixy="-0.0" ixz="-0.0" iyy="0.00165" iyz="4e-05" izz="0.00111"/>
+    </inertial>
+  </link>
+  <link name="left_hand_a">
+
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/d11_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.41222"/>
+      <origin xyz="0.240205 0.010733 0.00019"/>
+      <inertia ixx="0.00413" ixy="0.00073" ixz="-0.0" iyy="0.01679" iyz="0.0" izz="0.01796"/>
+    </inertial>
+  </link>
+  <link name="left_hand_b">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/d12_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.08224"/>
+      <origin xyz="0.123157 -0.008382 -2.7e-05"/>
+      <inertia ixx="0.00089" ixy="5e-05" ixz="0.0" iyy="0.00139" iyz="0.0" izz="0.00103"/>
+    </inertial>
+  </link>
+  <link name="left_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/d13_left.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_virtual_l">
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02383"/>
+      <origin xyz="0.003634 0.000206 -0.09885"/>
+      <inertia ixx="0.00021" ixy="-0.0" ixz="-1e-05" iyy="0.00011" iyz="-0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="left_hand_l">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13003"/>
+      <origin xyz="0.261673 0.003521 0.0"/>
+      <inertia ixx="0.00051" ixy="-3e-05" ixz="0.0" iyy="0.00335" iyz="-0.0" izz="0.00344"/>
+    </inertial>
+  </link>
+  <link name="left_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_virtual_k">
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02377"/>
+      <origin xyz="0.003357 -8e-06 -0.099643"/>
+      <inertia ixx="0.00021" ixy="-0.0" ixz="-1e-05" iyy="0.00011" iyz="0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="left_hand_k">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13474"/>
+      <origin xyz="0.271122 0.00413 0.0"/>
+      <inertia ixx="0.00052" ixy="-3e-05" ixz="-0.0" iyy="0.0037" iyz="-0.0" izz="0.0038"/>
+    </inertial>
+  </link>
+  <link name="left_hand_o">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0422"/>
+      <origin xyz="0.16683 -0.003774 0.0"/>
+      <inertia ixx="0.0002" ixy="0.0" ixz="-0.0" iyy="0.00047" iyz="0.0" izz="0.0004"/>
+    </inertial>
+  </link>
+  <link name="left_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_virtual_j">
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02377"/>
+      <origin xyz="0.003805 0.000386 0.100079"/>
+      <inertia ixx="0.00021" ixy="0.0" ixz="1e-05" iyy="0.00011" iyz="-0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="left_hand_j">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1377"/>
+      <origin xyz="0.258283 -0.00154 0.0"/>
+      <inertia ixx="0.00055" ixy="0.00018" ixz="-0.0" iyy="0.00411" iyz="0.0" izz="0.00426"/>
+    </inertial>
+  </link>
+  <link name="left_hand_n">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.04207"/>
+      <origin xyz="0.166851 -0.00362 0.0"/>
+      <inertia ixx="0.00019" ixy="0.0" ixz="-0.0" iyy="0.00047" iyz="0.0" izz="0.0004"/>
+    </inertial>
+  </link>
+  <link name="left_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_virtual_i">
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02377"/>
+      <origin xyz="0.003653 4.4e-05 0.100085"/>
+      <inertia ixx="0.00021" ixy="0.0" ixz="1e-05" iyy="0.00011" iyz="-0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="left_hand_i">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f41.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.12544"/>
+      <origin xyz="0.232293 0.00622 0.0"/>
+      <inertia ixx="0.00049" ixy="6e-05" ixz="-0.0" iyy="0.00316" iyz="0.0" izz="0.00328"/>
+    </inertial>
+  </link>
+  <link name="left_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_Thumb_Flexion" type="revolute">
+    <parent link="left_hand_z"/>
+    <child link="left_hand_a"/>
+    <limit effort="1000.0" lower="-0.9704" upper="0.0" velocity="1"/>
+    <origin rpy="-1.57079 -0.6004 -1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Thumb_Opposition" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="0.0169 0.02626 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_f4" type="fixed">
+    <parent link="left_hand_base_link"/>
+    <child link="left_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="left_hand_j5" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_e2"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="-0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="left_hand_j3" type="revolute">
+    <parent link="left_hand_a"/>
+    <child link="left_hand_b"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="left_hand_j4" type="revolute">
+    <parent link="left_hand_b"/>
+    <child link="left_hand_c"/>
+    <limit effort="1000.0" lower="-1.406" upper="0" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <joint name="left_hand_Index_Finger_Distal" type="revolute">
+    <parent link="left_hand_l"/>
+    <child link="left_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_l"/>
+    <child link="left_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j14" type="revolute">
+    <parent link="left_hand_p"/>
+    <child link="left_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <joint name="left_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="left_hand_virtual_k"/>
+    <child link="left_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="left_hand_k"/>
+    <child link="left_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j15" type="revolute">
+    <parent link="left_hand_o"/>
+    <child link="left_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <joint name="left_hand_Ring_Finger" type="revolute">
+    <parent link="left_hand_virtual_j"/>
+    <child link="left_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j12" type="revolute">
+    <parent link="left_hand_j"/>
+    <child link="left_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="left_hand_j16" type="revolute">
+    <parent link="left_hand_n"/>
+    <child link="left_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <joint name="left_hand_Pinky" type="revolute">
+    <parent link="left_hand_virtual_i"/>
+    <child link="left_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="left_hand_j13" type="revolute">
+    <parent link="left_hand_i"/>
+    <child link="left_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="left_hand_j17" type="revolute">
+    <parent link="left_hand_m"/>
+    <child link="left_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="left_hand_index_spread" type="revolute">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_l"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_middle_spread_dummy" type="fixed">
+    <parent link="left_hand_e1"/>
+    <child link="left_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="left_hand_ring_spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_j"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="left_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="left_hand_Finger_Spread" type="revolute">
+    <parent link="left_hand_e2"/>
+    <child link="left_hand_virtual_i"/>
+    <limit effort="1000.0" upper="0.0" lower="-0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="-0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="left_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="left_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="left_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="left_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="left_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+</robot>
diff --git a/processed/hot3d/assets/robots/schunk/schunk_hand_right_6dof.urdf b/processed/hot3d/assets/robots/schunk/schunk_hand_right_6dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..58044faddab82153a95bb800a5f6c7a71e632ef6
--- /dev/null
+++ b/processed/hot3d/assets/robots/schunk/schunk_hand_right_6dof.urdf
@@ -0,0 +1,600 @@
+<robot name="svh">
+ <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="base_link"/>
+  <joint name="R_forearm_tx_link_joint" type="prismatic">
+    <parent link="R_forearm_tx_link"/>
+    <child link="R_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tx_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_ty_link_joint" type="prismatic">
+    <parent link="R_forearm_ty_link"/>
+    <child link="R_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_ty_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_tz_link_joint" type="prismatic">
+    <parent link="R_forearm_tz_link"/>
+    <child link="R_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tz_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_roll_link_joint" type="revolute">
+    <parent link="R_forearm_roll_link"/>
+    <child link="R_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_roll_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_pitch_link_joint" type="revolute">
+    <parent link="R_forearm_pitch_link"/>
+    <child link="R_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_pitch_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_yaw_link_joint" type="revolute">
+    <parent link="R_forearm_yaw_link"/>
+    <child link="right_hand_base_link"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_yaw_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="root_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="R_forearm_tx_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="right_hand_base_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.009"/>
+      <geometry>
+        <cylinder radius="0.045" length="0.045"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.57743"/>
+      <origin xyz="0.0 -2.3e-05 0.139371"/>
+      <inertia ixx="0.04725" ixy="-0.0" ixz="-0.0" iyy="0.04717" iyz="0.0" izz="0.07606"/>
+    </inertial>
+  </link>
+  <link name="right_hand_e1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.01313 0.013"/>
+      <geometry>
+        <box size="0.05 0.05 0.026"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.00573 0.0035 0.05747"/>
+      <geometry>
+        <box size="0.0584 0.038 0.0641"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.01 0.0035 0.096"/>
+      <geometry>
+        <box size="0.042 0.038 0.015"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <link name="right_hand_e2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0.016 0 0.02"/>
+      <geometry>
+        <box size="0.0246 0.035 0.0564"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0032 -0.0083 0.048"/>
+      <geometry>
+        <box size="0.012 0.018 0.021"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.46184"/>
+      <origin xyz="0.145071 -0.037868 0.323449"/>
+      <inertia ixx="0.01908" ixy="-0.00121" ixz="-0.00011" iyy="0.01704" iyz="0.00277" izz="0.00862"/>
+    </inertial>
+  </link>
+  <link name="right_hand_z">
+    <collision>
+      <origin xyz="0 0 0.02842"/>
+      <geometry>
+        <box size="0.024 0.0188 0.008"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0125 0.0 0.04292"/>
+      <geometry>
+        <box size="0.006 0.024 0.033"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0739"/>
+      <origin xyz="0.0 0.002024 0.178636"/>
+      <inertia ixx="0.00103" ixy="-0.0" ixz="-0.0" iyy="0.00165" iyz="4e-05" izz="0.00111"/>
+    </inertial>
+  </link>
+  <link name="right_hand_a">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/d11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.41222"/>
+      <origin xyz="0.240205 0.010733 0.00019"/>
+      <inertia ixx="0.00413" ixy="0.00073" ixz="-0.0" iyy="0.01679" iyz="0.0" izz="0.01796"/>
+    </inertial>
+  </link>
+  <link name="right_hand_b">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/d12.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.08224"/>
+      <origin xyz="0.123157 -0.008382 -2.7e-05"/>
+      <inertia ixx="0.00089" ixy="5e-05" ixz="0.0" iyy="0.00139" iyz="0.0" izz="0.00103"/>
+    </inertial>
+  </link>
+  <link name="right_hand_c">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/d13.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_virtual_l">
+    <collision>
+      <origin xyz="0 0 0.00121"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02383"/>
+      <origin xyz="0.003634 0.000206 -0.09885"/>
+      <inertia ixx="0.00021" ixy="-0.0" ixz="-1e-05" iyy="0.00011" iyz="-0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="right_hand_l">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f11.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13003"/>
+      <origin xyz="0.261673 0.003521 0.0"/>
+      <inertia ixx="0.00051" ixy="-3e-05" ixz="0.0" iyy="0.00335" iyz="-0.0" izz="0.00344"/>
+    </inertial>
+  </link>
+  <link name="right_hand_p">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.000 0.000"/>
+      <mass value="0.024"/>
+      <inertia ixx="9e-7" ixy="0.0" ixz="0.0" iyy="3e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f12.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_t">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_virtual_k">
+    <collision>
+      <origin xyz="0 0 0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02377"/>
+      <origin xyz="0.003357 -8e-06 -0.099643"/>
+      <inertia ixx="0.00021" ixy="-0.0" ixz="-1e-05" iyy="0.00011" iyz="0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="right_hand_k">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f21.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.13474"/>
+      <origin xyz="0.271122 0.00413 0.0"/>
+      <inertia ixx="0.00052" ixy="-3e-05" ixz="-0.0" iyy="0.0037" iyz="-0.0" izz="0.0038"/>
+    </inertial>
+  </link>
+  <link name="right_hand_o">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0422"/>
+      <origin xyz="0.16683 -0.003774 0.0"/>
+      <inertia ixx="0.0002" ixy="0.0" ixz="-0.0" iyy="0.00047" iyz="0.0" izz="0.0004"/>
+    </inertial>
+  </link>
+  <link name="right_hand_s">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_virtual_j">
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02377"/>
+      <origin xyz="0.003805 0.000386 0.100079"/>
+      <inertia ixx="0.00021" ixy="0.0" ixz="1e-05" iyy="0.00011" iyz="-0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="right_hand_j">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f31.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1377"/>
+      <origin xyz="0.258283 -0.00154 0.0"/>
+      <inertia ixx="0.00055" ixy="0.00018" ixz="-0.0" iyy="0.00411" iyz="0.0" izz="0.00426"/>
+    </inertial>
+  </link>
+  <link name="right_hand_n">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f22_f32.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.04207"/>
+      <origin xyz="0.166851 -0.00362 0.0"/>
+      <inertia ixx="0.00019" ixy="0.0" ixz="-0.0" iyy="0.00047" iyz="0.0" izz="0.0004"/>
+    </inertial>
+  </link>
+  <link name="right_hand_r">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_virtual_i">
+    <collision>
+      <origin xyz="0 0 -0.00321"/>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.02377"/>
+      <origin xyz="0.003653 4.4e-05 0.100085"/>
+      <inertia ixx="0.00021" ixy="0.0" ixz="1e-05" iyy="0.00011" iyz="-0.0" izz="0.00019"/>
+    </inertial>
+  </link>
+  <link name="right_hand_i">
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f41.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.12544"/>
+      <origin xyz="0.232293 0.00622 0.0"/>
+      <inertia ixx="0.00049" ixy="6e-05" ixz="-0.0" iyy="0.00316" iyz="0.0" izz="0.00328"/>
+    </inertial>
+  </link>
+  <link name="right_hand_m">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="8e-7" ixy="0.0" ixz="0.0" iyy="2e-6" iyz="0.0" izz="2e-6"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/f42.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_q">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.007 0.000 0.000"/>
+      <mass value="0.02"/>
+      <inertia ixx="1e-5" ixy="0.0" ixz="0.0" iyy="2e-5" iyz="0.0" izz="2e-5"/>
+    </inertial>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger_tip.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_Thumb_Flexion" type="revolute">
+    <parent link="right_hand_z"/>
+    <child link="right_hand_a"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9704" velocity="1"/>
+    <origin rpy="1.57079 -0.6004 1.57079" xyz="0 0 0.04596"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Thumb_Opposition" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_z"/>
+    <limit effort="1000.0" lower="0.0" upper="0.9879" velocity="1"/>
+    <origin rpy="0 0.2618 1.571" xyz="-0.0169 0.02626 0"/>
+    <axis xyz="0 0 -1"/>
+  </joint>
+  <joint name="right_hand_f4" type="fixed">
+    <parent link="right_hand_base_link"/>
+    <child link="right_hand_e1"/>
+    <origin rpy="0 0 0" xyz="0 -0.01313 0"/>
+  </joint>
+  <joint name="right_hand_j5" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_e2"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98786" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0184 0.006 0.0375"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Opposition" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_hand_j3" type="revolute">
+    <parent link="right_hand_a"/>
+    <child link="right_hand_b"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98506" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.0485 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.01511" offset="0"/>
+  </joint>
+  <joint name="right_hand_j4" type="revolute">
+    <parent link="right_hand_b"/>
+    <child link="right_hand_c"/>
+    <limit effort="1000.0" lower="0.0" upper="1.406" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.030 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Thumb_Flexion" multiplier="1.44889" offset="0"/>
+  </joint>
+  <joint name="right_hand_Index_Finger_Distal" type="revolute">
+    <parent link="right_hand_l"/>
+    <child link="right_hand_p"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04804 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Index_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_l"/>
+    <child link="right_hand_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j14" type="revolute">
+    <parent link="right_hand_p"/>
+    <child link="right_hand_t"/>
+    <limit effort="1000.0" lower="0" upper="1.394" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.026 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Index_Finger_Distal" multiplier="1.0450" offset="0"/>
+  </joint>
+  <joint name="right_hand_Middle_Finger_Proximal" type="revolute">
+    <parent link="right_hand_virtual_k"/>
+    <child link="right_hand_k"/>
+    <limit effort="1000.0" lower="0.0" upper="0.79849" velocity="1"/>
+    <origin rpy="-1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_Middle_Finger_Distal" type="revolute">
+    <parent link="right_hand_k"/>
+    <child link="right_hand_o"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j15" type="revolute">
+    <parent link="right_hand_o"/>
+    <child link="right_hand_s"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Middle_Finger_Distal" multiplier="1.0454" offset="0"/>
+  </joint>
+  <joint name="right_hand_Ring_Finger" type="revolute">
+    <parent link="right_hand_virtual_j"/>
+    <child link="right_hand_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j12" type="revolute">
+    <parent link="right_hand_j"/>
+    <child link="right_hand_n"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.05004 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.3588" offset="0"/>
+  </joint>
+  <joint name="right_hand_j16" type="revolute">
+    <parent link="right_hand_n"/>
+    <child link="right_hand_r"/>
+    <limit effort="1000.0" lower="0" upper="1.395" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.032 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Ring_Finger" multiplier="1.42093" offset="0"/>
+  </joint>
+  <joint name="right_hand_Pinky" type="revolute">
+    <parent link="right_hand_virtual_i"/>
+    <child link="right_hand_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.98175" velocity="1"/>
+    <origin rpy="1.5707 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_hand_j13" type="revolute">
+    <parent link="right_hand_i"/>
+    <child link="right_hand_m"/>
+    <limit effort="1000.0" lower="0" upper="1.334" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.04454 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.35880" offset="0"/>
+  </joint>
+  <joint name="right_hand_j17" type="revolute">
+    <parent link="right_hand_m"/>
+    <child link="right_hand_q"/>
+    <limit effort="1000.0" lower="0" upper="1.3971" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0.022 0 0"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Pinky" multiplier="1.42307" offset="0"/>
+  </joint>
+  <joint name="right_hand_index_spread" type="revolute">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_l"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="-0.025 0 0.110"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_middle_spread_dummy" type="fixed">
+    <parent link="right_hand_e1"/>
+    <child link="right_hand_virtual_k"/>
+    <origin rpy="0 -1.5707 1.5707" xyz="0 0 0.110"/>
+  </joint>
+  <joint name="right_hand_ring_spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_j"/>
+    <limit effort="1000.0" lower="0.0" upper="0.28833" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.003855 -0.006 0.0655"/>
+    <axis xyz="0 0 1"/>
+    <mimic joint="right_hand_Finger_Spread" multiplier="0.5" offset="0"/>
+  </joint>
+  <joint name="right_hand_Finger_Spread" type="revolute">
+    <parent link="right_hand_e2"/>
+    <child link="right_hand_virtual_i"/>
+    <limit effort="1000.0" lower="0.0" upper="0.5829" velocity="1"/>
+    <origin rpy="-1.5707 -1.5707 0" xyz="0.025355 -0.006 0.056"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="thtip"/>
+  <link name="fftip"/>
+  <link name="mftip"/>
+  <link name="rftip"/>
+  <link name="lftip"/>
+  <joint name="thtip_joint" type="fixed">
+    <parent link="right_hand_c"/>
+    <child link="thtip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.0275 0.000 0.000"/>
+  </joint>
+  <joint name="fftip_joint" type="fixed">
+    <parent link="right_hand_t"/>
+    <child link="fftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="mftip_joint" type="fixed">
+    <parent link="right_hand_s"/>
+    <child link="mftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="rftip_joint" type="fixed">
+    <parent link="right_hand_r"/>
+    <child link="rftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+  <joint name="lftip_joint" type="fixed">
+    <parent link="right_hand_q"/>
+    <child link="lftip"/>
+    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.014 0.000 0.000"/>
+  </joint>
+</robot>
diff --git a/processed/hot3d/assets/robots/xhand/MUJOCO_LOG.TXT b/processed/hot3d/assets/robots/xhand/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..1be86a6d030930c2a26e9b205b2151e67ca5f9c5
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Tue Nov  4 15:48:04 2025
+ERROR: could not initialize GLFW
+
diff --git a/processed/hot3d/assets/robots/xhand/assets/left_hand_ee_link.STL b/processed/hot3d/assets/robots/xhand/assets/left_hand_ee_link.STL
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+<mujoco model="bimanual">
+    <include file="right.xml" />
+    <include file="left.xml" />
+</mujoco>
\ No newline at end of file
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+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
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+                <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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="0.890196 0.890196 0.913725 1"
+                    mesh="left_hand_thumb_bend_link" />
+                  <geom name="collision_hand_left_thumb_2" type="capsule" size="0.008"
+                    fromto="0 0 0 0.02 0 0"
+                    rgba="0 1 0 1" group="3" />
+                  <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178"
+                    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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1" />
+                    <geom name="collision_hand_left_thumb_1" type="capsule" size="0.01"
+                      fromto="0 0 0 0.055 0 0" rgba="0 1 0 1"
+                      group="3" />
+                    <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <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" contype="0" conaffinity="0"
+                        group="1" density="0" rgba="0.384314 0.384314 0.384314 1"
+                        mesh="left_hand_thumb_rota_link2" />
+                      <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008"
+                        fromto="0 0 0 0.045 0 0"
+                        rgba="0 1 0 1"
+                        group="3" />
+                      <geom size="0.001" pos="0.0504017 0 0" contype="0" conaffinity="0" group="1"
+                        density="0" rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="left_thumb_tip" pos="0.0504017 0 0" />
+                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0" />
+                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0" />
+                    </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" contype="0" conaffinity="0"
+                    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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1" />
+                    <geom name="collision_hand_left_index_1" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                    <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
+                        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" contype="0" conaffinity="0"
+                        group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                        mesh="left_hand_index_rota_link2" />
+                      <geom name="collision_hand_left_index_0" type="capsule" size="0.008"
+                        fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                      <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
+                        density="0" rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="left_index_tip" pos="0 0 -0.0425" />
+                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425" />
+                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425" />
+                    </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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1" />
+                  <geom name="collision_hand_left_middle_1" type="capsule" size="0.008"
+                    fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                  <body name="left_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338572 -1.93625e-05 -0.0231328"
+                      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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                      mesh="left_hand_mid_link2" />
+                    <geom name="collision_hand_left_middle_0" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                    <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
+                      density="0" rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="left_middle_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425" />
+                  </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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1" />
+                  <geom name="collision_hand_left_ring_1" type="capsule" size="0.008"
+                    fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                  <body name="left_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
+                      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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                      mesh="left_hand_ring_link2" />
+                    <geom name="collision_hand_left_ring_0" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                    <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
+                      density="0" rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="left_ring_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425" />
+                  </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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1" />
+                  <geom name="collision_hand_left_pinky_1" type="capsule" size="0.008"
+                    fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                  <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338573 -1.93618e-05 -0.0231328"
+                      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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                      mesh="left_hand_pinky_link2" />
+                    <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                    <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
+                      density="0" rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="left_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <position name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" kp="1000" />
+    <position name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" kp="1000" />
+    <position name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" kp="1000" />
+    <position name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" kp="1000" />
+    <position name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" kp="1000" />
+    <position name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" kp="1000" />
+
+    <!-- Thumb joints -->
+    <position name="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" />
+    <position name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" />
+    <position name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" />
+
+    <!-- Index joints -->
+    <position name="left_index_bend_position" joint="left_hand_index_bend_joint" />
+    <position name="left_index_joint1_position" joint="left_hand_index_joint1" />
+    <position name="left_index_joint2_position" joint="left_hand_index_joint2" />
+
+    <!-- Middle joints -->
+    <position name="left_middle_joint1_position" joint="left_hand_mid_joint1" />
+    <position name="left_middle_joint2_position" joint="left_hand_mid_joint2" />
+
+    <!-- Ring joints -->
+    <position name="left_ring_joint1_position" joint="left_hand_ring_joint1" />
+    <position name="left_ring_joint2_position" joint="left_hand_ring_joint2" />
+
+    <!-- Pinky joints -->
+    <position name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" />
+    <position name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" />
+  </actuator>
+</mujoco>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/xhand/retarget_config.yaml b/processed/hot3d/assets/robots/xhand/retarget_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d316d07e42212c5207914600dc1253e0801a6351
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/retarget_config.yaml
@@ -0,0 +1,19 @@
+low_pass_alpha: 0.6
+scaling_factor: 1.4
+left:
+  urdf_path: xhand_left_6dof.urdf
+  target_origin_link: "left_hand_link"
+  human_origin_idx: 0
+  target_finger_links: ["left_hand_thumb_rota_tip", "left_hand_index_rota_tip", "left_hand_mid_tip", "left_hand_ring_tip", "left_hand_pinky_tip"]
+  human_finger_idxs: [16, 17, 18, 19, 20]
+  target_joint_names: ['L_forearm_tx_link_joint', 'L_forearm_ty_link_joint', 'L_forearm_tz_link_joint', 'L_forearm_roll_link_joint', 'L_forearm_pitch_link_joint', 'L_forearm_yaw_link_joint', 'left_hand_thumb_bend_joint', 'left_hand_thumb_rota_joint1', 'left_hand_thumb_rota_joint2', 'left_hand_index_bend_joint', 'left_hand_index_joint1', 'left_hand_index_joint2', 'left_hand_mid_joint1', 'left_hand_mid_joint2', 'left_hand_ring_joint1', 'left_hand_ring_joint2', 'left_hand_pinky_joint1', 'left_hand_pinky_joint2']
+  wrist_body: "left_hand_link"
+
+right:
+  urdf_path: xhand_right_6dof.urdf
+  target_origin_link: "right_hand_link"
+  human_origin_idx: 0
+  target_finger_links: ["right_hand_thumb_rota_tip", "right_hand_index_rota_tip", "right_hand_mid_tip", "right_hand_ring_tip", "right_hand_pinky_tip"]
+  human_finger_idxs: [16, 17, 18, 19, 20]
+  target_joint_names: ['R_forearm_tx_link_joint', 'R_forearm_ty_link_joint', 'R_forearm_tz_link_joint', 'R_forearm_roll_link_joint', 'R_forearm_pitch_link_joint', 'R_forearm_yaw_link_joint', 'right_hand_thumb_bend_joint', 'right_hand_thumb_rota_joint1', 'right_hand_thumb_rota_joint2', 'right_hand_index_bend_joint', 'right_hand_index_joint1', 'right_hand_index_joint2', 'right_hand_mid_joint1', 'right_hand_mid_joint2', 'right_hand_ring_joint1', 'right_hand_ring_joint2', 'right_hand_pinky_joint1', 'right_hand_pinky_joint2']
+  wrist_body: "right_hand_link"
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/xhand/right.xml b/processed/hot3d/assets/robots/xhand/right.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bff61e332e00ec4991e94b38a710b26cfed77d70
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/right.xml
@@ -0,0 +1,277 @@
+<mujoco model="xhand_right">
+  <compiler angle="radian" meshdir="assets/" />
+
+  <default>
+    <!-- disable all contacts and use explicit collision pairs -->
+    <geom density="800" condim="1" contype="0" conaffinity="0" />
+    <!-- with this setting, the response time is around 1s -->
+    <position kp="300" dampratio="1.0" inheritrange="1" />
+    <joint damping="0.0" armature="1.0" frictionloss="0.0" />
+    <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" />
+  </default>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512"
+      height="3072" />
+    <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
+      rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true"
+      texrepeat="5 5"
+      reflectance="0.2" />
+    <mesh name="right_hand_link" content_type="model/stl" file="right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl"
+      file="right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl"
+      file="right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl"
+      file="right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl"
+      file="right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl"
+      file="right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl"
+      file="right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="right_hand_pinky_link2.STL" />
+  </asset>
+
+  <worldbody>
+    <body name="R_forearm_ty_link">
+      <camera name="right_track" pos="-0.868 -0.348 -0.175"
+        xyaxes="-0.037 0.999 -0.000 -0.011 -0.000 1.000" />
+      <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" />
+      <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" contype="0" conaffinity="0"
+                  group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link" />
+                <geom name="collision_hand_right_palm_0" type="box" size="0.03 0.02 0.04"
+                  pos="0 0 -0.06"
+                  rgba="0 1 0 1" group="3" />
+                <site name="right_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="0 1 1 0" />
+                <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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="0.890196 0.890196 0.913725 1"
+                    mesh="right_hand_thumb_bend_link" />
+                  <geom name="collision_hand_right_thumb_2" type="capsule" size="0.008"
+                    fromto="0 0 0 0.02 0 0"
+                    rgba="0 1 0 1" group="3" />
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178"
+                    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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1" />
+                    <geom name="collision_hand_right_thumb_1" type="capsule" size="0.01"
+                      fromto="0 0 0 0.055 0 0" rgba="0 1 0 1"
+                      group="3" />
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <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" contype="0" conaffinity="0"
+                        group="1" density="0" rgba="0.792157 0.819608 0.933333 1"
+                        mesh="right_hand_thumb_rota_link2" />
+                      <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008"
+                        fromto="0 0 0 0.045 0 0"
+                        rgba="0 1 0 1"
+                        group="3" />
+                      <geom size="0.001" pos="0.0504025 0 0" contype="0" conaffinity="0" group="1"
+                        density="0" rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="right_thumb_tip" pos="0.0504025 0 0" />
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0" />
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0" />
+                    </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" contype="0" conaffinity="0"
+                    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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1" />
+                    <geom name="collision_hand_right_index_1" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
+                        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" contype="0" conaffinity="0"
+                        group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                        mesh="right_hand_index_rota_link2" />
+                      <geom name="collision_hand_right_index_0" type="capsule" size="0.008"
+                        fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                      <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
+                        density="0" rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="right_index_tip" pos="0 0 -0.0425" />
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425" />
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425" />
+                    </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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1" />
+                  <geom name="collision_hand_right_middle_1" type="capsule" size="0.008"
+                    fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
+                      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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                      mesh="right_hand_mid_link2" />
+                    <geom name="collision_hand_right_middle_0" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                    <geom size="0.001" pos="0 0 -0.042107" contype="0" conaffinity="0" group="1"
+                      density="0" rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="right_middle_tip" pos="0 0 -0.042107" />
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107" />
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107" />
+                  </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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1" />
+                  <geom name="collision_hand_right_ring_1" type="capsule" size="0.008"
+                    fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328"
+                      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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                      mesh="right_hand_ring_link2" />
+                    <geom name="collision_hand_right_ring_0" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                    <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
+                      density="0" rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="right_ring_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425" />
+                  </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" contype="0" conaffinity="0"
+                    group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1" />
+                  <geom name="collision_hand_right_pinky_1" type="capsule" size="0.008"
+                    fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" />
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
+                      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" contype="0" conaffinity="0"
+                      group="1" density="0" rgba="0.866667 0.866667 0.890196 1"
+                      mesh="right_hand_pinky_link2" />
+                    <geom name="collision_hand_right_pinky_0" type="capsule" size="0.008"
+                      fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
+                    <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
+                      density="0" rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="right_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Global position and rotation joints -->
+    <position name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" kp="1000" />
+    <position name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" kp="1000" />
+    <position name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" kp="1000" />
+    <position name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" kp="1000" />
+    <position name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" kp="1000" />
+    <position name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" kp="1000" />
+
+    <!-- Thumb joints -->
+    <position name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" />
+    <position name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" />
+    <position name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" />
+
+    <!-- Index joints -->
+    <position name="right_index_bend_position" joint="right_hand_index_bend_joint" />
+    <position name="right_index_joint1_position" joint="right_hand_index_joint1" />
+    <position name="right_index_joint2_position" joint="right_hand_index_joint2" />
+
+    <!-- Middle joints -->
+    <position name="right_middle_joint1_position" joint="right_hand_mid_joint1" />
+    <position name="right_middle_joint2_position" joint="right_hand_mid_joint2" />
+
+    <!-- Ring joints -->
+    <position name="right_ring_joint1_position" joint="right_hand_ring_joint1" />
+    <position name="right_ring_joint2_position" joint="right_hand_ring_joint2" />
+
+    <!-- Pinky joints -->
+    <position name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" />
+    <position name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" />
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/assets/robots/xhand/xhand_left.urdf b/processed/hot3d/assets/robots/xhand/xhand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..05c33dbca60d7063e5a31ff8440f7f9d7474a503
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/xhand_left.urdf
@@ -0,0 +1,651 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="xhand_left">
+  <mujoco>
+    <compiler meshdir="./meshes/" balanceinertia="true" discardvisual="false" />
+  </mujoco>
+  <link name="left_hand_link">
+    <inertial>
+      <origin xyz="-0.00718397232462035 -0.00342395518292698 -0.0584832405332602" rpy="0 0 0" />
+      <mass value="0.529961023577223" />
+      <inertia ixx="0.000480653113997558" ixy="5.6276926629699E-06" ixz="-4.05859709772904E-05" iyy="0.00067789113848308" iyz="-4.83494002678735E-06" izz="0.00034697306572534" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_link.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_ee_link">
+    <inertial>
+      <origin xyz="-1.69621793423315E-16 -7.83468649371551E-16 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.1306062234609E-28" ixz="-6.0696092927852E-27" iyy="9.35114688295087E-14" iyz="2.40522431637656E-41" izz="9.35114688295086E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ee_link.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ee_joint" type="fixed">
+    <origin xyz="0 0 -0.065" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_ee_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_thumb_bend_link">
+    <inertial>
+      <origin xyz="0.0145290714760328 0.000901344264936247 -0.000127911758588877" rpy="0 0 0" />
+      <mass value="0.0098553409170395" />
+      <inertia ixx="5.42977914410068E-07" ixy="-1.16969836118924E-08" ixz="-3.74492329986334E-08" iyy="1.29130197093564E-06" iyz="-1.5496972766742E-09" izz="1.30457824480983E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_bend_link.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_bend_joint" type="revolute">
+    <origin xyz="0.0228 -0.0095 -0.0305" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_thumb_bend_link" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.83" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_thumb_rota_link1">
+    <inertial>
+      <origin xyz="0.0279279151977349 0.000121046050863875 -0.000277543472497595" rpy="0 0 0" />
+      <mass value="0.153197010050709" />
+      <inertia ixx="2.41523784234409E-05" ixy="6.62856100469595E-06" ixz="1.88729265232125E-07" iyy="4.7191218462316E-05" iyz="1.13949521391224E-07" izz="5.6212272955421E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link1.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="1 1 1 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_rota_joint1" type="revolute">
+    <origin xyz="0.028599 -0.0083177 0.00178" rpy="-0.2618 0 -0.0407" />
+    <parent link="left_hand_thumb_bend_link" />
+    <child link="left_hand_thumb_rota_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.05" upper="1.57" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_thumb_rota_link2">
+    <inertial>
+      <origin xyz="0.0224529466888815 0.000690615200902365 0.00314278985524262" rpy="0 0 0" />
+      <mass value="0.0374009578136616" />
+      <inertia ixx="3.98060244076823E-06" ixy="4.94846156827651E-07" ixz="1.18267329781539E-07" iyy="8.21784089346997E-06" iyz="6.13556519818818E-08" izz="9.54038333156961E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link2.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_rota_joint2" type="revolute">
+    <origin xyz="0.0553 0 0" rpy="0 0 0" />
+    <parent link="left_hand_thumb_rota_link1" />
+    <child link="left_hand_thumb_rota_link2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.17" upper="1.83" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_thumb_rota_tip">
+    <inertial>
+      <origin xyz="2.77555756156289E-17 8.24456234185811E-09 0.000270106204327401" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="9.35114688295086E-14" ixy="-1.32725847303435E-28" ixz="9.86076131526265E-32" iyy="3.97607820219959E-14" iyz="-1.58322857389778E-21" izz="9.35114688295086E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_tip.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_rota_joint3" type="fixed">
+    <origin xyz="0.0504017317642718 0 0" rpy="0 0 0" />
+    <parent link="left_hand_thumb_rota_link2" />
+    <child link="left_hand_thumb_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_index_bend_link">
+    <inertial>
+      <origin xyz="-0.000134544831370011 -0.000675884062860156 0.00420851049165961" rpy="0 0 0" />
+      <mass value="0.0677836037392838" />
+      <inertia ixx="2.16567127431793E-05" ixy="1.17519873383444E-08" ixz="-8.90740188704384E-08" iyy="2.09681513604224E-05" iyz="6.68676922531736E-07" izz="3.39515033610064E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_bend_link.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.988235294117647 0.737254901960784 0.517647058823529 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_bend_joint" type="revolute">
+    <origin xyz="0.0265 -0.0065 -0.0899" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_index_bend_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.175" upper="0.175" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_index_rota_link1">
+    <inertial>
+      <origin xyz="0.000139769333493966 0.000800517079915854 -0.0356038561271479" rpy="0 0 0" />
+      <mass value="0.0630216014538817" />
+      <inertia ixx="2.0518746365106E-05" ixy="7.80218143369854E-09" ixz="-4.29054701209884E-07" iyy="1.92422615292432E-05" iyz="-2.4702784768408E-07" izz="4.15027341232346E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link1.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="1 1 1 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_joint1" type="revolute">
+    <origin xyz="0 0 -0.0178" rpy="0 0 0" />
+    <parent link="left_hand_index_bend_link" />
+    <child link="left_hand_index_rota_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_index_rota_link2">
+    <inertial>
+      <origin xyz="0.000338569414886528 -1.93676040351407E-05 -0.0231328539120741" rpy="0 0 0" />
+      <mass value="0.0179923076570599" />
+      <inertia ixx="3.01810067223025E-06" ixy="-4.92126455642096E-10" ixz="-9.09991288403927E-08" iyy="3.0198354354144E-06" iyz="-5.99900012810543E-08" izz="9.885388987729E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link2.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_index_rota_link1" />
+    <child link="left_hand_index_rota_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_index_rota_tip">
+    <inertial>
+      <origin xyz="9.47159017883337E-16 -1.66550800928533E-14 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.06598273810657E-28" ixz="3.39655762044409E-26" iyy="9.35114688295087E-14" iyz="-1.30578596099644E-40" izz="9.35114688295087E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_tip.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_rota_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999991" rpy="0 0 0" />
+    <parent link="left_hand_index_rota_link2" />
+    <child link="left_hand_index_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_mid_link1">
+    <inertial>
+      <origin xyz="0.000139769503048257 0.00080051681932813 -0.0356038562198462" rpy="0 0 0" />
+      <mass value="0.0630216000876532" />
+      <inertia ixx="2.0518746354026E-05" ixy="7.80206454050682E-09" ixz="-4.29054815974796E-07" iyy="1.92422617602022E-05" iyz="-2.47027801809116E-07" izz="4.15027323551749E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_mid_joint1" type="revolute">
+    <origin xyz="0.004 -0.0065 -0.1082" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_mid_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_mid_link2">
+    <inertial>
+      <origin xyz="0.000338571504924487 -1.93625114516685E-05 -0.0231328477388325" rpy="0 0 0" />
+      <mass value="0.0179922971238626" />
+      <inertia ixx="3.01809863607458E-06" ixy="-4.91830289601756E-10" ixz="-9.09984854679422E-08" iyy="3.01983397037226E-06" iyz="-5.99889522310673E-08" izz="9.88538040128258E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link2.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_mid_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_mid_link1" />
+    <child link="left_hand_mid_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_mid_tip">
+    <inertial>
+      <origin xyz="3.46944695195361E-18 -6.27969898303604E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.08752389989043E-28" ixz="2.52777196678215E-29" iyy="9.35114688295087E-14" iyz="-1.79366203433577E-43" izz="9.35114688295086E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_tip.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_mid_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999995" rpy="0 0 0" />
+    <parent link="left_hand_mid_link2" />
+    <child link="left_hand_mid_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_ring_link1">
+    <inertial>
+      <origin xyz="0.000139769503829958 0.00080051746545018 -0.0356038550320788" rpy="0 0 0" />
+      <mass value="0.0630216034004235" />
+      <inertia ixx="2.05187480603073E-05" ixy="7.80204473072652E-09" ixz="-4.29055143702643E-07" iyy="1.92422630398686E-05" iyz="-2.47028634316192E-07" izz="4.15027377034858E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link1.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="1 1 1 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ring_joint1" type="revolute">
+    <origin xyz="-0.016 -0.0065 -0.1052" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_ring_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_ring_link2">
+    <inertial>
+      <origin xyz="0.000338569362970571 -1.93675642107764E-05 -0.0231328537916428" rpy="0 0 0" />
+      <mass value="0.0179923074393582" />
+      <inertia ixx="3.01810064426992E-06" ixy="-4.92130070945092E-10" ixz="-9.09991388750487E-08" iyy="3.0198354064253E-06" iyz="-5.99899932123125E-08" izz="9.88538891512388E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link2.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ring_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_ring_link1" />
+    <child link="left_hand_ring_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_ring_tip">
+    <inertial>
+      <origin xyz="3.46944695195361E-18 -6.36816988031086E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.08752389989043E-28" ixz="2.52777196678215E-29" iyy="9.35114688295087E-14" iyz="-1.79366203433577E-43" izz="9.35114688295087E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_tip.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ring_joint3" type="fixed">
+    <origin xyz="0 0 -0.0425" rpy="0 0 0" />
+    <parent link="left_hand_ring_link2" />
+    <child link="left_hand_ring_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_pinky_link1">
+    <inertial>
+      <origin xyz="0.000139769403140894 0.000800517208403269 -0.0356038550457389" rpy="0 0 0" />
+      <mass value="0.0630216018833023" />
+      <inertia ixx="2.05187477543832E-05" ixy="7.80212984947717E-09" ixz="-4.29055030397585E-07" iyy="1.92422628106822E-05" iyz="-2.47028571410968E-07" izz="4.15027354474908E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link1.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="1 1 1 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_pinky_joint1" type="revolute">
+    <origin xyz="-0.036 -0.0065 -0.1022" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_pinky_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_pinky_link2">
+    <inertial>
+      <origin xyz="0.000338573187645894 -1.93618349248192E-05 -0.0231328439241562" rpy="0 0 0" />
+      <mass value="0.0179922893932107" />
+      <inertia ixx="3.01809788005842E-06" ixy="-4.91751568021702E-10" ixz="-9.09983567107085E-08" iyy="3.0198329418105E-06" iyz="-5.99887920223039E-08" izz="9.8853806652991E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link2.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_pinky_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_pinky_link1" />
+    <child link="left_hand_pinky_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_pinky_tip">
+    <inertial>
+      <origin xyz="1.38777878078145E-17 -8.99974539336768E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528851E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.08752389989043E-28" ixz="2.52777196678213E-29" iyy="9.35114688295085E-14" iyz="-1.79366203433577E-43" izz="9.35114688295085E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_tip.STL" />
+      </geometry>
+      <!-- <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material> -->
+      <material
+        name="">
+        <color
+          rgba="0.0549 0.0549 0.0627 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_pinky_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999995" rpy="0 0 0" />
+    <parent link="left_hand_pinky_link2" />
+    <child link="left_hand_pinky_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/xhand/xhand_left_6dof.urdf b/processed/hot3d/assets/robots/xhand/xhand_left_6dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ecb9e8ba097e4c596fcaa4775a50f02eba14be71
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/xhand_left_6dof.urdf
@@ -0,0 +1,558 @@
+<robot name="xhand_left">
+ <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="root"/>
+  <joint name="L_forearm_tx_link_joint" type="prismatic">
+    <parent link="L_forearm_tx_link"/>
+    <child link="L_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tx_link">
+    <mass value="0.01"/>
+  </link>
+  <joint name="L_forearm_ty_link_joint" type="prismatic">
+    <parent link="L_forearm_ty_link"/>
+    <child link="L_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_ty_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_tz_link_joint" type="prismatic">
+    <parent link="L_forearm_tz_link"/>
+    <child link="L_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_tz_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_roll_link_joint" type="revolute">
+    <parent link="L_forearm_roll_link"/>
+    <child link="L_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_roll_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_pitch_link_joint" type="revolute">
+    <parent link="L_forearm_pitch_link"/>
+    <child link="L_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_pitch_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="L_forearm_yaw_link_joint" type="revolute">
+    <parent link="L_forearm_yaw_link"/>
+    <child link="left_hand_link"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="L_forearm_yaw_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="root_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="root"/>
+    <child link="L_forearm_tx_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="left_hand_link">
+    <inertial>
+      <origin xyz="-0.00718397232462035 -0.00342395518292698 -0.0584832405332602" rpy="0 0 0"/>
+      <mass value="0.529961023577223"/>
+      <inertia ixx="0.000480653113997558" ixy="5.6276926629699E-06" ixz="-4.05859709772904E-05" iyy="0.00067789113848308" iyz="-4.83494002678735E-06" izz="0.00034697306572534"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_hand_thumb_bend_link">
+    <inertial>
+      <origin xyz="0.0145290714760328 0.000901344264936247 -0.000127911758588877" rpy="0 0 0"/>
+      <mass value="0.0098553409170395"/>
+      <inertia ixx="5.42977914410068E-07" ixy="-1.16969836118924E-08" ixz="-3.74492329986334E-08" iyy="1.29130197093564E-06" iyz="-1.5496972766742E-09" izz="1.30457824480983E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_bend_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_bend_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_bend_joint" type="revolute">
+    <origin xyz="0.0228 -0.0095 -0.0305" rpy="0 0 0"/>
+    <parent link="left_hand_link"/>
+    <child link="left_hand_thumb_bend_link"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="0" upper="1.83" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_thumb_rota_link1">
+    <inertial>
+      <origin xyz="0.0279279151977349 0.000121046050863875 -0.000277543472497595" rpy="0 0 0"/>
+      <mass value="0.153197010050709"/>
+      <inertia ixx="2.41523784234409E-05" ixy="6.62856100469595E-06" ixz="1.88729265232125E-07" iyy="4.7191218462316E-05" iyz="1.13949521391224E-07" izz="5.6212272955421E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_rota_joint1" type="revolute">
+    <origin xyz="0.028599 -0.0083177 0.00178" rpy="-0.2618 0 -0.0407"/>
+    <parent link="left_hand_thumb_bend_link"/>
+    <child link="left_hand_thumb_rota_link1"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.05" upper="1.57" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_thumb_rota_link2">
+    <inertial>
+      <origin xyz="0.0224529466888815 0.000690615200902365 0.00314278985524262" rpy="0 0 0"/>
+      <mass value="0.0374009578136616"/>
+      <inertia ixx="3.98060244076823E-06" ixy="4.94846156827651E-07" ixz="1.18267329781539E-07" iyy="8.21784089346997E-06" iyz="6.13556519818818E-08" izz="9.54038333156961E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.384313725490196 0.384313725490196 0.384313725490196 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_rota_joint2" type="revolute">
+    <origin xyz="0.0553 0 0" rpy="0 0 0"/>
+    <parent link="left_hand_thumb_rota_link1"/>
+    <child link="left_hand_thumb_rota_link2"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.17" upper="1.83" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_thumb_rota_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_hand_thumb_rota_joint3" type="fixed">
+    <origin xyz="0.0504017317642718 0 0" rpy="0 0 0"/>
+    <parent link="left_hand_thumb_rota_link2"/>
+    <child link="left_hand_thumb_rota_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="left_hand_index_bend_link">
+    <inertial>
+      <origin xyz="-0.000134544831370011 -0.000675884062860156 0.00420851049165961" rpy="0 0 0"/>
+      <mass value="0.0677836037392838"/>
+      <inertia ixx="2.16567127431793E-05" ixy="1.17519873383444E-08" ixz="-8.90740188704384E-08" iyy="2.09681513604224E-05" iyz="6.68676922531736E-07" izz="3.39515033610064E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_bend_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.988235294117647 0.737254901960784 0.517647058823529 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_bend_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_bend_joint" type="revolute">
+    <origin xyz="0.0265 -0.0065 -0.0899" rpy="0 0 0"/>
+    <parent link="left_hand_link"/>
+    <child link="left_hand_index_bend_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.175" upper="0.175" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_index_rota_link1">
+    <inertial>
+      <origin xyz="0.000139769333493966 0.000800517079915854 -0.0356038561271479" rpy="0 0 0"/>
+      <mass value="0.0630216014538817"/>
+      <inertia ixx="2.0518746365106E-05" ixy="7.80218143369854E-09" ixz="-4.29054701209884E-07" iyy="1.92422615292432E-05" iyz="-2.4702784768408E-07" izz="4.15027341232346E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_joint1" type="revolute">
+    <origin xyz="0 0 -0.0178" rpy="0 0 0"/>
+    <parent link="left_hand_index_bend_link"/>
+    <child link="left_hand_index_rota_link1"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_index_rota_link2">
+    <inertial>
+      <origin xyz="0.000338569414886528 -1.93676040351407E-05 -0.0231328539120741" rpy="0 0 0"/>
+      <mass value="0.0179923076570599"/>
+      <inertia ixx="3.01810067223025E-06" ixy="-4.92126455642096E-10" ixz="-9.09991288403927E-08" iyy="3.0198354354144E-06" iyz="-5.99900012810543E-08" izz="9.885388987729E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="left_hand_index_rota_link1"/>
+    <child link="left_hand_index_rota_link2"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_index_rota_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_hand_index_rota_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999991" rpy="0 0 0"/>
+    <parent link="left_hand_index_rota_link2"/>
+    <child link="left_hand_index_rota_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="left_hand_mid_link1">
+    <inertial>
+      <origin xyz="0.000139769503048257 0.00080051681932813 -0.0356038562198462" rpy="0 0 0"/>
+      <mass value="0.0630216000876532"/>
+      <inertia ixx="2.0518746354026E-05" ixy="7.80206454050682E-09" ixz="-4.29054815974796E-07" iyy="1.92422617602022E-05" iyz="-2.47027801809116E-07" izz="4.15027323551749E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_mid_joint1" type="revolute">
+    <origin xyz="0.004 -0.0065 -0.1082" rpy="0 0 0"/>
+    <parent link="left_hand_link"/>
+    <child link="left_hand_mid_link1"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_mid_link2">
+    <inertial>
+      <origin xyz="0.000338571504924487 -1.93625114516685E-05 -0.0231328477388325" rpy="0 0 0"/>
+      <mass value="0.0179922971238626"/>
+      <inertia ixx="3.01809863607458E-06" ixy="-4.91830289601756E-10" ixz="-9.09984854679422E-08" iyy="3.01983397037226E-06" iyz="-5.99889522310673E-08" izz="9.88538040128258E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_mid_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="left_hand_mid_link1"/>
+    <child link="left_hand_mid_link2"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_mid_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_hand_mid_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999995" rpy="0 0 0"/>
+    <parent link="left_hand_mid_link2"/>
+    <child link="left_hand_mid_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="left_hand_ring_link1">
+    <inertial>
+      <origin xyz="0.000139769503829958 0.00080051746545018 -0.0356038550320788" rpy="0 0 0"/>
+      <mass value="0.0630216034004235"/>
+      <inertia ixx="2.05187480603073E-05" ixy="7.80204473072652E-09" ixz="-4.29055143702643E-07" iyy="1.92422630398686E-05" iyz="-2.47028634316192E-07" izz="4.15027377034858E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ring_joint1" type="revolute">
+    <origin xyz="-0.016 -0.0065 -0.1052" rpy="0 0 0"/>
+    <parent link="left_hand_link"/>
+    <child link="left_hand_ring_link1"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_ring_link2">
+    <inertial>
+      <origin xyz="0.000338569362970571 -1.93675642107764E-05 -0.0231328537916428" rpy="0 0 0"/>
+      <mass value="0.0179923074393582"/>
+      <inertia ixx="3.01810064426992E-06" ixy="-4.92130070945092E-10" ixz="-9.09991388750487E-08" iyy="3.0198354064253E-06" iyz="-5.99899932123125E-08" izz="9.88538891512388E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ring_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="left_hand_ring_link1"/>
+    <child link="left_hand_ring_link2"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_ring_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_hand_ring_joint3" type="fixed">
+    <origin xyz="0 0 -0.0425" rpy="0 0 0"/>
+    <parent link="left_hand_ring_link2"/>
+    <child link="left_hand_ring_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="left_hand_pinky_link1">
+    <inertial>
+      <origin xyz="0.000139769403140894 0.000800517208403269 -0.0356038550457389" rpy="0 0 0"/>
+      <mass value="0.0630216018833023"/>
+      <inertia ixx="2.05187477543832E-05" ixy="7.80212984947717E-09" ixz="-4.29055030397585E-07" iyy="1.92422628106822E-05" iyz="-2.47028571410968E-07" izz="4.15027354474908E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_pinky_joint1" type="revolute">
+    <origin xyz="-0.036 -0.0065 -0.1022" rpy="0 0 0"/>
+    <parent link="left_hand_link"/>
+    <child link="left_hand_pinky_link1"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_pinky_link2">
+    <inertial>
+      <origin xyz="0.000338573187645894 -1.93618349248192E-05 -0.0231328439241562" rpy="0 0 0"/>
+      <mass value="0.0179922893932107"/>
+      <inertia ixx="3.01809788005842E-06" ixy="-4.91751568021702E-10" ixz="-9.09983567107085E-08" iyy="3.0198329418105E-06" iyz="-5.99887920223039E-08" izz="9.8853806652991E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_pinky_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="left_hand_pinky_link1"/>
+    <child link="left_hand_pinky_link2"/>
+    <axis xyz="-1 0 0"/>
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="left_hand_pinky_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_hand_pinky_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999995" rpy="0 0 0"/>
+    <parent link="left_hand_pinky_link2"/>
+    <child link="left_hand_pinky_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+</robot>
diff --git a/processed/hot3d/assets/robots/xhand/xhand_left_copy.urdf b/processed/hot3d/assets/robots/xhand/xhand_left_copy.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..65e2cc84c21c4cc2e88663892c32d6c343004012
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/xhand_left_copy.urdf
@@ -0,0 +1,568 @@
+<?xml version="1.0" encoding="utf-8"?> 
+<robot name="xhand_left"> 
+  <!-- <link name="left_hand_ee_link">
+    <inertial>
+      <origin xyz="-1.69621793423315E-16 -7.83468649371551E-16 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.1306062234609E-28" ixz="-6.0696092927852E-27" iyy="9.35114688295087E-14" iyz="2.40522431637656E-41" izz="9.35114688295086E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ee_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ee_joint" type="fixed">
+    <origin xyz="0 0 -0.065" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_ee_link" />
+    <axis xyz="0 0 0" />
+  </joint> -->
+  <link name="root"/>
+  <joint name="root_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="root" />
+    <child link="left_hand_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_link">
+    <inertial>
+      <origin xyz="-0.00718397232462035 -0.00342395518292698 -0.0584832405332602" rpy="0 0 0" />
+      <mass value="0.529961023577223" />
+      <inertia ixx="0.000480653113997558" ixy="5.6276926629699E-06" ixz="-4.05859709772904E-05" iyy="0.00067789113848308" iyz="-4.83494002678735E-06" izz="0.00034697306572534" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <link name="left_hand_thumb_bend_link">
+    <inertial>
+      <origin xyz="0.0145290714760328 0.000901344264936247 -0.000127911758588877" rpy="0 0 0" />
+      <mass value="0.0098553409170395" />
+      <inertia ixx="5.42977914410068E-07" ixy="-1.16969836118924E-08" ixz="-3.74492329986334E-08" iyy="1.29130197093564E-06" iyz="-1.5496972766742E-09" izz="1.30457824480983E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_bend_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_bend_joint" type="revolute">
+    <origin xyz="0.0228 -0.0095 -0.0305" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_thumb_bend_link" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.83" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_thumb_rota_link1">
+    <inertial>
+      <origin xyz="0.0279279151977349 0.000121046050863875 -0.000277543472497595" rpy="0 0 0" />
+      <mass value="0.153197010050709" />
+      <inertia ixx="2.41523784234409E-05" ixy="6.62856100469595E-06" ixz="1.88729265232125E-07" iyy="4.7191218462316E-05" iyz="1.13949521391224E-07" izz="5.6212272955421E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_rota_joint1" type="revolute">
+    <origin xyz="0.028599 -0.0083177 0.00178" rpy="-0.2618 0 -0.0407" />
+    <parent link="left_hand_thumb_bend_link" />
+    <child link="left_hand_thumb_rota_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.05" upper="1.57" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_thumb_rota_link2">
+    <inertial>
+      <origin xyz="0.0224529466888815 0.000690615200902365 0.00314278985524262" rpy="0 0 0" />
+      <mass value="0.0374009578136616" />
+      <inertia ixx="3.98060244076823E-06" ixy="4.94846156827651E-07" ixz="1.18267329781539E-07" iyy="8.21784089346997E-06" iyz="6.13556519818818E-08" izz="9.54038333156961E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_thumb_rota_joint2" type="revolute">
+    <origin xyz="0.0553 0 0" rpy="0 0 0" />
+    <parent link="left_hand_thumb_rota_link1" />
+    <child link="left_hand_thumb_rota_link2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.17" upper="1.83" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_thumb_rota_tip">
+    <!-- <inertial>
+      <origin xyz="2.77555756156289E-17 8.24456234185811E-09 0.000270106204327401" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="9.35114688295086E-14" ixy="-1.32725847303435E-28" ixz="9.86076131526265E-32" iyy="3.97607820219959E-14" iyz="-1.58322857389778E-21" izz="9.35114688295086E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/left_hand_thumb_rota_tip.STL" /> -->
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_thumb_rota_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hand_thumb_rota_joint3" type="fixed">
+    <origin xyz="0.0504017317642718 0 0" rpy="0 0 0" />
+    <parent link="left_hand_thumb_rota_link2" />
+    <child link="left_hand_thumb_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_index_bend_link">
+    <inertial>
+      <origin xyz="-0.000134544831370011 -0.000675884062860156 0.00420851049165961" rpy="0 0 0" />
+      <mass value="0.0677836037392838" />
+      <inertia ixx="2.16567127431793E-05" ixy="1.17519873383444E-08" ixz="-8.90740188704384E-08" iyy="2.09681513604224E-05" iyz="6.68676922531736E-07" izz="3.39515033610064E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_bend_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.988235294117647 0.737254901960784 0.517647058823529 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_bend_joint" type="revolute">
+    <origin xyz="0.0265 -0.0065 -0.0899" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_index_bend_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.175" upper="0.175" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_index_rota_link1">
+    <inertial>
+      <origin xyz="0.000139769333493966 0.000800517079915854 -0.0356038561271479" rpy="0 0 0" />
+      <mass value="0.0630216014538817" />
+      <inertia ixx="2.0518746365106E-05" ixy="7.80218143369854E-09" ixz="-4.29054701209884E-07" iyy="1.92422615292432E-05" iyz="-2.4702784768408E-07" izz="4.15027341232346E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_joint1" type="revolute">
+    <origin xyz="0 0 -0.0178" rpy="0 0 0" />
+    <parent link="left_hand_index_bend_link" />
+    <child link="left_hand_index_rota_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_index_rota_link2">
+    <inertial>
+      <origin xyz="0.000338569414886528 -1.93676040351407E-05 -0.0231328539120741" rpy="0 0 0" />
+      <mass value="0.0179923076570599" />
+      <inertia ixx="3.01810067223025E-06" ixy="-4.92126455642096E-10" ixz="-9.09991288403927E-08" iyy="3.0198354354144E-06" iyz="-5.99900012810543E-08" izz="9.885388987729E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_index_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_index_rota_link1" />
+    <child link="left_hand_index_rota_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_index_rota_tip">
+    <!-- <inertial>
+      <origin xyz="9.47159017883337E-16 -1.66550800928533E-14 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.06598273810657E-28" ixz="3.39655762044409E-26" iyy="9.35114688295087E-14" iyz="-1.30578596099644E-40" izz="9.35114688295087E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/left_hand_index_rota_tip.STL" /> -->
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_index_rota_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hand_index_rota_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999991" rpy="0 0 0" />
+    <parent link="left_hand_index_rota_link2" />
+    <child link="left_hand_index_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_mid_link1">
+    <inertial>
+      <origin xyz="0.000139769503048257 0.00080051681932813 -0.0356038562198462" rpy="0 0 0" />
+      <mass value="0.0630216000876532" />
+      <inertia ixx="2.0518746354026E-05" ixy="7.80206454050682E-09" ixz="-4.29054815974796E-07" iyy="1.92422617602022E-05" iyz="-2.47027801809116E-07" izz="4.15027323551749E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_mid_joint1" type="revolute">
+    <origin xyz="0.004 -0.0065 -0.1082" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_mid_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_mid_link2">
+    <inertial>
+      <origin xyz="0.000338571504924487 -1.93625114516685E-05 -0.0231328477388325" rpy="0 0 0" />
+      <mass value="0.0179922971238626" />
+      <inertia ixx="3.01809863607458E-06" ixy="-4.91830289601756E-10" ixz="-9.09984854679422E-08" iyy="3.01983397037226E-06" iyz="-5.99889522310673E-08" izz="9.88538040128258E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_mid_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_mid_link1" />
+    <child link="left_hand_mid_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_mid_tip">
+    <!-- <inertial>
+      <origin xyz="3.46944695195361E-18 -6.27969898303604E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.08752389989043E-28" ixz="2.52777196678215E-29" iyy="9.35114688295087E-14" iyz="-1.79366203433577E-43" izz="9.35114688295086E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <!-- <geometry>
+        <mesh filename="meshes/left_hand_mid_tip.STL" />
+      </geometry> -->
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_mid_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hand_mid_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999995" rpy="0 0 0" />
+    <parent link="left_hand_mid_link2" />
+    <child link="left_hand_mid_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_ring_link1">
+    <inertial>
+      <origin xyz="0.000139769503829958 0.00080051746545018 -0.0356038550320788" rpy="0 0 0" />
+      <mass value="0.0630216034004235" />
+      <inertia ixx="2.05187480603073E-05" ixy="7.80204473072652E-09" ixz="-4.29055143702643E-07" iyy="1.92422630398686E-05" iyz="-2.47028634316192E-07" izz="4.15027377034858E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ring_joint1" type="revolute">
+    <origin xyz="-0.016 -0.0065 -0.1052" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_ring_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_ring_link2">
+    <inertial>
+      <origin xyz="0.000338569362970571 -1.93675642107764E-05 -0.0231328537916428" rpy="0 0 0" />
+      <mass value="0.0179923074393582" />
+      <inertia ixx="3.01810064426992E-06" ixy="-4.92130070945092E-10" ixz="-9.09991388750487E-08" iyy="3.0198354064253E-06" iyz="-5.99899932123125E-08" izz="9.88538891512388E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_ring_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_ring_link1" />
+    <child link="left_hand_ring_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_ring_tip">
+    <!-- <inertial>
+      <origin xyz="3.46944695195361E-18 -6.36816988031086E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.08752389989043E-28" ixz="2.52777196678215E-29" iyy="9.35114688295087E-14" iyz="-1.79366203433577E-43" izz="9.35114688295087E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/left_hand_ring_tip.STL" /> -->
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_ring_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hand_ring_joint3" type="fixed">
+    <origin xyz="0 0 -0.0425" rpy="0 0 0" />
+    <parent link="left_hand_ring_link2" />
+    <child link="left_hand_ring_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_hand_pinky_link1">
+    <inertial>
+      <origin xyz="0.000139769403140894 0.000800517208403269 -0.0356038550457389" rpy="0 0 0" />
+      <mass value="0.0630216018833023" />
+      <inertia ixx="2.05187477543832E-05" ixy="7.80212984947717E-09" ixz="-4.29055030397585E-07" iyy="1.92422628106822E-05" iyz="-2.47028571410968E-07" izz="4.15027354474908E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_pinky_joint1" type="revolute">
+    <origin xyz="-0.036 -0.0065 -0.1022" rpy="0 0 0" />
+    <parent link="left_hand_link" />
+    <child link="left_hand_pinky_link1" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_pinky_link2">
+    <inertial>
+      <origin xyz="0.000338573187645894 -1.93618349248192E-05 -0.0231328439241562" rpy="0 0 0" />
+      <mass value="0.0179922893932107" />
+      <inertia ixx="3.01809788005842E-06" ixy="-4.91751568021702E-10" ixz="-9.09983567107085E-08" iyy="3.0198329418105E-06" iyz="-5.99887920223039E-08" izz="9.8853806652991E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_hand_pinky_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="left_hand_pinky_link1" />
+    <child link="left_hand_pinky_link2" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="left_hand_pinky_tip">
+    <!-- <inertial>
+      <origin xyz="1.38777878078145E-17 -8.99974539336768E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528851E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="2.08752389989043E-28" ixz="2.52777196678213E-29" iyy="9.35114688295085E-14" iyz="-1.79366203433577E-43" izz="9.35114688295085E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/left_hand_pinky_tip.STL" /> -->
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/left_hand_pinky_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="left_hand_pinky_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999995" rpy="0 0 0" />
+    <parent link="left_hand_pinky_link2" />
+    <child link="left_hand_pinky_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/processed/hot3d/assets/robots/xhand/xhand_right.urdf b/processed/hot3d/assets/robots/xhand/xhand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b833f40d4598b149d4f544ad9be06097cd264c33
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/xhand_right.urdf
@@ -0,0 +1,559 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="xhand_right">
+  <mujoco>
+    <compiler meshdir="./meshes/" balanceinertia="true" discardvisual="false" />
+  </mujoco>
+  <link name="right_hand_link">
+    <inertial>
+      <origin xyz="-0.00713969600456059 0.00342243593256283 -0.0584806731230685" rpy="0 0 0" />
+      <mass value="0.530025137189824" />
+      <inertia ixx="0.000480675299127658" ixy="-5.70774350447044E-06" ixz="-3.94757992682007E-05" iyy="0.000677544052393642" iyz="4.84926198036181E-06" izz="0.000346610500441846" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_ee_link">
+    <inertial>
+      <origin xyz="2.53177486972285E-18 3.51340222342731E-16 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.74909746440606E-29" ixz="1.39310580749999E-28" iyy="9.35114688295087E-14" iyz="1.37037159451135E-41" izz="9.35114688295087E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ee_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ee_joint" type="fixed">
+    <origin xyz="0 0 -0.065" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_ee_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_thumb_bend_link">
+    <inertial>
+      <origin xyz="0.0145290801349471 -0.000901302744009009 -0.000127925728837824" rpy="0 0 0" />
+      <mass value="0.0098552942780609" />
+      <inertia ixx="5.42973961076784E-07" ixy="1.1697377817489E-08" ixz="-3.74480550329303E-08" iyy="1.29129949885877E-06" iyz="1.54918667172288E-09" izz="1.30457450474268E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_bend_joint" type="revolute">
+    <origin xyz="0.0228 0.0095 -0.0305" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_thumb_bend_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.83" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_thumb_rota_link1">
+    <inertial>
+      <origin xyz="0.0279237160722458 -0.000127602868102849 -0.000272577361780019" rpy="0 0 0" />
+      <mass value="0.153264803291678" />
+      <inertia ixx="2.4165365258545E-05" ixy="-6.63197358473128E-06" ixz="1.94475216115701E-07" iyy="4.72108607465942E-05" iyz="-1.01931561408839E-07" izz="5.62288901300273E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_rota_joint1" type="revolute">
+    <origin xyz="0.028599 0.0083177 0.00178" rpy="0.2618 0 0.0407" />
+    <parent link="right_hand_thumb_bend_link" />
+    <child link="right_hand_thumb_rota_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.05" upper="1.57" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_thumb_rota_link2">
+    <inertial>
+      <origin xyz="0.0224697187075982 -0.000691342225602463 0.00302232046900801" rpy="0 0 0" />
+      <mass value="0.0374003730407777" />
+      <inertia ixx="3.98187483395831E-06" ixy="-4.9463629774215E-07" ixz="1.48034880030095E-07" iyy="8.21760971089748E-06" iyz="-5.85388102153786E-08" izz="9.53856476569885E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_rota_joint2" type="revolute">
+    <origin xyz="0.0553 0 0" rpy="0 0 0" />
+    <parent link="right_hand_thumb_rota_link1" />
+    <child link="right_hand_thumb_rota_link2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.175" upper="1.83" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_thumb_rota_tip">
+    <inertial>
+      <origin xyz="8.28680735143195E-10 -8.2445667376474E-09 2.77555756156289E-16" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="9.35114688295028E-14" ixy="1.78168632222544E-20" ixz="5.02898827078395E-30" iyy="3.97607820220018E-14" iyz="-6.5475455133344E-29" izz="9.35114688295088E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_tip.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_rota_joint3" type="fixed">
+    <origin xyz="0.0504024546888781 0 0" rpy="0 0 0" />
+    <parent link="right_hand_thumb_rota_link2" />
+    <child link="right_hand_thumb_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_index_bend_link">
+    <inertial>
+      <origin xyz="8.08448802515592E-05 0.000675884062860609 0.00420851049166139" rpy="0 0 0" />
+      <mass value="0.0677836037392839" />
+      <inertia ixx="2.16567127431793E-05" ixy="9.29177767371407E-09" ixz="2.1345292815894E-07" iyy="2.09689353738481E-05" iyz="-6.68676922531782E-07" izz="3.39593434952634E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.43921568627451 0.43921568627451 0.43921568627451 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_bend_joint" type="revolute">
+    <origin xyz="0.0265 0.0065 -0.0899" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_index_bend_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.175" upper="0.175" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_index_rota_link1">
+    <inertial>
+      <origin xyz="-0.000139769529292743 -0.0008005173406112 -0.0356038554391181" rpy="0 0 0" />
+      <mass value="0.0630216027459696" />
+      <inertia ixx="2.05187473304044E-05" ixy="7.80203520045171E-09" ixz="4.29054958401514E-07" iyy="1.92422623666435E-05" iyz="2.47028335879796E-07" izz="4.15027364465252E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_joint1" type="revolute">
+    <origin xyz="0 0 -0.0178" rpy="0 0 0" />
+    <parent link="right_hand_index_bend_link" />
+    <child link="right_hand_index_rota_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_index_rota_link2">
+    <inertial>
+      <origin xyz="-0.000338569409191088 1.93676000460963E-05 -0.0231328539090889" rpy="0 0 0" />
+      <mass value="0.0179923076356481" />
+      <inertia ixx="3.01810066952146E-06" ixy="-4.92126710010375E-10" ixz="9.0999129965313E-08" iyy="3.01983543305207E-06" iyz="5.99900021060723E-08" izz="9.88538897829343E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_index_rota_link1" />
+    <child link="right_hand_index_rota_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_index_rota_tip">
+    <inertial>
+      <origin xyz="-2.98372437868011E-16 4.86850143532891E-15 -2.77555756156289E-17" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.31827422870135E-29" ixz="1.6690203866884E-29" iyy="9.35114688295087E-14" iyz="1.37887768889562E-41" izz="9.35114688295087E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_tip.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_rota_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999993" rpy="0 0 0" />
+    <parent link="right_hand_index_rota_link2" />
+    <child link="right_hand_index_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_mid_link1">
+    <inertial>
+      <origin xyz="-0.000139769452255069 -0.000800516966578778 -0.0356038561997856" rpy="0 0 0" />
+      <mass value="0.0630216005457211" />
+      <inertia ixx="2.05187463723375E-05" ixy="7.80208491082156E-09" ixz="4.29054729251827E-07" iyy="1.92422616109533E-05" iyz="2.47027898316091E-07" izz="4.15027334868904E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_mid_joint1" type="revolute">
+    <origin xyz="0.004 0.0065 -0.1082" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_mid_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_mid_link2">
+    <inertial>
+      <origin xyz="-0.000338569410644367 1.93676002657236E-05 -0.0231328539105626" rpy="0 0 0" />
+      <mass value="0.0179923076388667" />
+      <inertia ixx="3.01810066972044E-06" ixy="-4.92126597550988E-10" ixz="9.09991296960493E-08" iyy="3.01983543347029E-06" iyz="5.99900021064019E-08" izz="9.88538897954892E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_mid_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_mid_link1" />
+    <child link="right_hand_mid_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.94" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_mid_tip">
+    <inertial>
+      <origin xyz="8.67361737988404E-19 6.7992486640911E-15 -0.000393026889207115" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.6998091400205E-29" ixz="1.72625026613961E-29" iyy="9.35114688295087E-14" iyz="-1.34632261157722E-30" izz="9.35114688295087E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_tip.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_mid_joint3" type="fixed">
+    <origin xyz="0 0 -0.042107" rpy="0 0 0" />
+    <parent link="right_hand_mid_link2" />
+    <child link="right_hand_mid_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_ring_link1">
+    <inertial>
+      <origin xyz="-0.000139769594263359 -0.000800517227339018 -0.0356038552802108" rpy="0 0 0" />
+      <mass value="0.0630216021699602" />
+      <inertia ixx="2.05187476755252E-05" ixy="7.80199293997393E-09" ixz="4.29055082722493E-07" iyy="1.92422628261764E-05" iyz="2.47028487672885E-07" izz="4.15027358505553E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_joint1" type="revolute">
+    <origin xyz="-0.016 0.0065 -0.1052" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_ring_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_ring_link2">
+    <inertial>
+      <origin xyz="-0.00033857292489315 1.9362209649449E-05 -0.0231328478093387" rpy="0 0 0" />
+      <mass value="0.0179922978524175" />
+      <inertia ixx="3.01809858290111E-06" ixy="-4.91620007394315E-10" ixz="9.09983307330798E-08" iyy="3.01983382489043E-06" iyz="5.99889823171253E-08" izz="9.88537681686488E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_ring_link1" />
+    <child link="right_hand_ring_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_ring_tip">
+    <inertial>
+      <origin xyz="-6.93889390390723E-18 6.85042300663241E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.5336858465537E-29" ixz="1.6690203866884E-29" iyy="9.35114688295086E-14" iyz="1.38111976643854E-41" izz="9.35114688295086E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_tip.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999994" rpy="0 0 0" />
+    <parent link="right_hand_ring_link2" />
+    <child link="right_hand_ring_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_pinky_link1">
+    <inertial>
+      <origin xyz="-0.000139769192568043 -0.000800516820207079 -0.035603856454747" rpy="0 0 0" />
+      <mass value="0.0630215991316208" />
+      <inertia ixx="2.05187455958907E-05" ixy="7.80222924483364E-09" ixz="4.29054564778114E-07" iyy="1.92422608092939E-05" iyz="2.47027716010302E-07" izz="4.15027320974138E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_joint1" type="revolute">
+    <origin xyz="-0.036 0.0065 -0.1022" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_pinky_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_pinky_link2">
+    <inertial>
+      <origin xyz="-0.000338569414719665 1.93675989681556E-05 -0.0231328539159371" rpy="0 0 0" />
+      <mass value="0.0179923076462156" />
+      <inertia ixx="3.0181006709957E-06" ixy="-4.92126474056121E-10" ixz="9.0999128816634E-08" iyy="3.01983543495617E-06" iyz="5.99900018674419E-08" izz="9.88538897929235E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_pinky_link1" />
+    <child link="right_hand_pinky_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_pinky_tip">
+    <inertial>
+      <origin xyz="2.08166817117217E-17 9.41000749543619E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528851E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.31827422870134E-29" ixz="1.66902038668838E-29" iyy="9.35114688295085E-14" iyz="1.37887768889562E-41" izz="9.35114688295085E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_tip.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_tip.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_joint3" type="fixed">
+    <origin xyz="0 0 -0.0425" rpy="0 0 0" />
+    <parent link="right_hand_pinky_link2" />
+    <child link="right_hand_pinky_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/processed/hot3d/assets/robots/xhand/xhand_right_6dof.urdf b/processed/hot3d/assets/robots/xhand/xhand_right_6dof.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec9bb3ffcd829e7df7a4e17c94f42d51647276e5
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/xhand_right_6dof.urdf
@@ -0,0 +1,563 @@
+<robot name="xhand_right">
+ <mujoco>
+    <compiler meshdir="assets" balanceinertia="true" discardvisual="false"/>
+  </mujoco> 
+  <link name="root"/>
+  <joint name="R_forearm_tx_link_joint" type="prismatic">
+    <parent link="R_forearm_tx_link"/>
+    <child link="R_forearm_ty_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tx_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_ty_link_joint" type="prismatic">
+    <parent link="R_forearm_ty_link"/>
+    <child link="R_forearm_tz_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_ty_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_tz_link_joint" type="prismatic">
+    <parent link="R_forearm_tz_link"/>
+    <child link="R_forearm_roll_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_tz_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_roll_link_joint" type="revolute">
+    <parent link="R_forearm_roll_link"/>
+    <child link="R_forearm_pitch_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_roll_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_pitch_link_joint" type="revolute">
+    <parent link="R_forearm_pitch_link"/>
+    <child link="R_forearm_yaw_link"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_pitch_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="R_forearm_yaw_link_joint" type="revolute">
+    <parent link="R_forearm_yaw_link"/>
+    <child link="right_hand_link"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
+  </joint>
+  <link name="R_forearm_yaw_link">
+    <mass value="0.01"/>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <joint name="root_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="root"/>
+    <child link="R_forearm_tx_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="right_hand_link">
+    <inertial>
+      <origin xyz="-0.00713969600456059 0.00342243593256283 -0.0584806731230685" rpy="0 0 0"/>
+      <mass value="0.530025137189824"/>
+      <inertia ixx="0.000480675299127658" ixy="-5.70774350447044E-06" ixz="-3.94757992682007E-05" iyy="0.000677544052393642" iyz="4.84926198036181E-06" izz="0.000346610500441846"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_hand_thumb_bend_link">
+    <inertial>
+      <origin xyz="0.0145290801349471 -0.000901302744009009 -0.000127925728837824" rpy="0 0 0"/>
+      <mass value="0.0098552942780609"/>
+      <inertia ixx="5.42973961076784E-07" ixy="1.1697377817489E-08" ixz="-3.74480550329303E-08" iyy="1.29129949885877E-06" iyz="1.54918667172288E-09" izz="1.30457450474268E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_bend_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_bend_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_bend_joint" type="revolute">
+    <origin xyz="0.0228 0.0095 -0.0305" rpy="0 0 0"/>
+    <parent link="right_hand_link"/>
+    <child link="right_hand_thumb_bend_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="1.83" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_thumb_rota_link1">
+    <inertial>
+      <origin xyz="0.0279237160722458 -0.000127602868102849 -0.000272577361780019" rpy="0 0 0"/>
+      <mass value="0.153264803291678"/>
+      <inertia ixx="2.4165365258545E-05" ixy="-6.63197358473128E-06" ixz="1.94475216115701E-07" iyy="4.72108607465942E-05" iyz="-1.01931561408839E-07" izz="5.62288901300273E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_rota_joint1" type="revolute">
+    <origin xyz="0.028599 0.0083177 0.00178" rpy="0.2618 0 0.0407"/>
+    <parent link="right_hand_thumb_bend_link"/>
+    <child link="right_hand_thumb_rota_link1"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.05" upper="1.57" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_thumb_rota_link2">
+    <inertial>
+      <origin xyz="0.0224697187075982 -0.000691342225602463 0.00302232046900801" rpy="0 0 0"/>
+      <mass value="0.0374003730407777"/>
+      <inertia ixx="3.98187483395831E-06" ixy="-4.9463629774215E-07" ixz="1.48034880030095E-07" iyy="8.21760971089748E-06" iyz="-5.85388102153786E-08" izz="9.53856476569885E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_rota_joint2" type="revolute">
+    <origin xyz="0.0553 0 0" rpy="0 0 0"/>
+    <parent link="right_hand_thumb_rota_link1"/>
+    <child link="right_hand_thumb_rota_link2"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.175" upper="1.83" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_thumb_rota_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_hand_thumb_rota_joint3" type="fixed">
+    <origin xyz="0.0504024546888781 0 0" rpy="0 0 0"/>
+    <parent link="right_hand_thumb_rota_link2"/>
+    <child link="right_hand_thumb_rota_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="right_hand_index_bend_link">
+    <inertial>
+      <origin xyz="8.08448802515592E-05 0.000675884062860609 0.00420851049166139" rpy="0 0 0"/>
+      <mass value="0.0677836037392839"/>
+      <inertia ixx="2.16567127431793E-05" ixy="9.29177767371407E-09" ixz="2.1345292815894E-07" iyy="2.09689353738481E-05" iyz="-6.68676922531782E-07" izz="3.39593434952634E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_bend_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.43921568627451 0.43921568627451 0.43921568627451 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_bend_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_bend_joint" type="revolute">
+    <origin xyz="0.0265 0.0065 -0.0899" rpy="0 0 0"/>
+    <parent link="right_hand_link"/>
+    <child link="right_hand_index_bend_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-0.175" upper="0.175" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_index_rota_link1">
+    <inertial>
+      <origin xyz="-0.000139769529292743 -0.0008005173406112 -0.0356038554391181" rpy="0 0 0"/>
+      <mass value="0.0630216027459696"/>
+      <inertia ixx="2.05187473304044E-05" ixy="7.80203520045171E-09" ixz="4.29054958401514E-07" iyy="1.92422623666435E-05" iyz="2.47028335879796E-07" izz="4.15027364465252E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_joint1" type="revolute">
+    <origin xyz="0 0 -0.0178" rpy="0 0 0"/>
+    <parent link="right_hand_index_bend_link"/>
+    <child link="right_hand_index_rota_link1"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_index_rota_link2">
+    <inertial>
+      <origin xyz="-0.000338569409191088 1.93676000460963E-05 -0.0231328539090889" rpy="0 0 0"/>
+      <mass value="0.0179923076356481"/>
+      <inertia ixx="3.01810066952146E-06" ixy="-4.92126710010375E-10" ixz="9.0999129965313E-08" iyy="3.01983543305207E-06" iyz="5.99900021060723E-08" izz="9.88538897829343E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="right_hand_index_rota_link1"/>
+    <child link="right_hand_index_rota_link2"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_index_rota_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_hand_index_rota_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999993" rpy="0 0 0"/>
+    <parent link="right_hand_index_rota_link2"/>
+    <child link="right_hand_index_rota_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="right_hand_mid_link1">
+    <inertial>
+      <origin xyz="-0.000139769452255069 -0.000800516966578778 -0.0356038561997856" rpy="0 0 0"/>
+      <mass value="0.0630216005457211"/>
+      <inertia ixx="2.05187463723375E-05" ixy="7.80208491082156E-09" ixz="4.29054729251827E-07" iyy="1.92422616109533E-05" iyz="2.47027898316091E-07" izz="4.15027334868904E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_mid_joint1" type="revolute">
+    <origin xyz="0.004 0.0065 -0.1082" rpy="0 0 0"/>
+    <parent link="right_hand_link"/>
+    <child link="right_hand_mid_link1"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_mid_link2">
+    <inertial>
+      <origin xyz="-0.000338569410644367 1.93676002657236E-05 -0.0231328539105626" rpy="0 0 0"/>
+      <mass value="0.0179923076388667"/>
+      <inertia ixx="3.01810066972044E-06" ixy="-4.92126597550988E-10" ixz="9.09991296960493E-08" iyy="3.01983543347029E-06" iyz="5.99900021064019E-08" izz="9.88538897954892E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_mid_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="right_hand_mid_link1"/>
+    <child link="right_hand_mid_link2"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.94" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_mid_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_hand_mid_joint3" type="fixed">
+    <origin xyz="0 0 -0.042107" rpy="0 0 0"/>
+    <parent link="right_hand_mid_link2"/>
+    <child link="right_hand_mid_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="right_hand_ring_link1">
+    <inertial>
+      <origin xyz="-0.000139769594263359 -0.000800517227339018 -0.0356038552802108" rpy="0 0 0"/>
+      <mass value="0.0630216021699602"/>
+      <inertia ixx="2.05187476755252E-05" ixy="7.80199293997393E-09" ixz="4.29055082722493E-07" iyy="1.92422628261764E-05" iyz="2.47028487672885E-07" izz="4.15027358505553E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_joint1" type="revolute">
+    <origin xyz="-0.016 0.0065 -0.1052" rpy="0 0 0"/>
+    <parent link="right_hand_link"/>
+    <child link="right_hand_ring_link1"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_ring_link2">
+    <inertial>
+      <origin xyz="-0.00033857292489315 1.9362209649449E-05 -0.0231328478093387" rpy="0 0 0"/>
+      <mass value="0.0179922978524175"/>
+      <inertia ixx="3.01809858290111E-06" ixy="-4.91620007394315E-10" ixz="9.09983307330798E-08" iyy="3.01983382489043E-06" iyz="5.99889823171253E-08" izz="9.88537681686488E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="right_hand_ring_link1"/>
+    <child link="right_hand_ring_link2"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_ring_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_hand_ring_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999994" rpy="0 0 0"/>
+    <parent link="right_hand_ring_link2"/>
+    <child link="right_hand_ring_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="right_hand_pinky_link1">
+    <inertial>
+      <origin xyz="-0.000139769192568043 -0.000800516820207079 -0.035603856454747" rpy="0 0 0"/>
+      <mass value="0.0630215991316208"/>
+      <inertia ixx="2.05187455958907E-05" ixy="7.80222924483364E-09" ixz="4.29054564778114E-07" iyy="1.92422608092939E-05" iyz="2.47027716010302E-07" izz="4.15027320974138E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_joint1" type="revolute">
+    <origin xyz="-0.036 0.0065 -0.1022" rpy="0 0 0"/>
+    <parent link="right_hand_link"/>
+    <child link="right_hand_pinky_link1"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_pinky_link2">
+    <inertial>
+      <origin xyz="-0.000338569414719665 1.93675989681556E-05 -0.0231328539159371" rpy="0 0 0"/>
+      <mass value="0.0179923076462156"/>
+      <inertia ixx="3.0181006709957E-06" ixy="-4.92126474056121E-10" ixz="9.0999128816634E-08" iyy="3.01983543495617E-06" iyz="5.99900018674419E-08" izz="9.88538897929235E-07"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0"/>
+    <parent link="right_hand_pinky_link1"/>
+    <child link="right_hand_pinky_link2"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38"/>
+    <dynamics damping="1" friction="1"/>
+  </joint>
+  <link name="right_hand_pinky_tip">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="right_hand_pinky_joint3" type="fixed">
+    <origin xyz="0 0 -0.0425" rpy="0 0 0"/>
+    <parent link="right_hand_pinky_link2"/>
+    <child link="right_hand_pinky_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+</robot>
diff --git a/processed/hot3d/assets/robots/xhand/xhand_right_copy.urdf b/processed/hot3d/assets/robots/xhand/xhand_right_copy.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ecc50626419de49a1594fd04b7158ea5e2a1ec1b
--- /dev/null
+++ b/processed/hot3d/assets/robots/xhand/xhand_right_copy.urdf
@@ -0,0 +1,565 @@
+<?xml version="1.0" encoding="utf-8"?> 
+<robot name="xhand_right"> 
+  <link name="root"/>
+  <joint name="root_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="root" />
+    <child link="right_hand_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_link">
+    <inertial>
+      <origin xyz="-0.00713969600456059 0.00342243593256283 -0.0584806731230685" rpy="0 0 0" />
+      <mass value="0.530025137189824" />
+      <inertia ixx="0.000480675299127658" ixy="-5.70774350447044E-06" ixz="-3.94757992682007E-05" iyy="0.000677544052393642" iyz="4.84926198036181E-06" izz="0.000346610500441846" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <!-- <link name="right_hand_ee_link">
+    <inertial>
+      <origin xyz="2.53177486972285E-18 3.51340222342731E-16 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.74909746440606E-29" ixz="1.39310580749999E-28" iyy="9.35114688295087E-14" iyz="1.37037159451135E-41" izz="9.35114688295087E-14" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ee_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ee_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ee_joint" type="fixed">
+    <origin xyz="0 0 -0.065" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_ee_link" />
+    <axis xyz="0 0 0" />
+  </joint> -->
+  <link name="right_hand_thumb_bend_link">
+    <inertial>
+      <origin xyz="0.0145290801349471 -0.000901302744009009 -0.000127925728837824" rpy="0 0 0" />
+      <mass value="0.0098552942780609" />
+      <inertia ixx="5.42973961076784E-07" ixy="1.1697377817489E-08" ixz="-3.74480550329303E-08" iyy="1.29129949885877E-06" iyz="1.54918667172288E-09" izz="1.30457450474268E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_bend_joint" type="revolute">
+    <origin xyz="0.0228 0.0095 -0.0305" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_thumb_bend_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.83" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_thumb_rota_link1">
+    <inertial>
+      <origin xyz="0.0279237160722458 -0.000127602868102849 -0.000272577361780019" rpy="0 0 0" />
+      <mass value="0.153264803291678" />
+      <inertia ixx="2.4165365258545E-05" ixy="-6.63197358473128E-06" ixz="1.94475216115701E-07" iyy="4.72108607465942E-05" iyz="-1.01931561408839E-07" izz="5.62288901300273E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_rota_joint1" type="revolute">
+    <origin xyz="0.028599 0.0083177 0.00178" rpy="0.2618 0 0.0407" />
+    <parent link="right_hand_thumb_bend_link" />
+    <child link="right_hand_thumb_rota_link1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.05" upper="1.57" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_thumb_rota_link2">
+    <inertial>
+      <origin xyz="0.0224697187075982 -0.000691342225602463 0.00302232046900801" rpy="0 0 0" />
+      <mass value="0.0374003730407777" />
+      <inertia ixx="3.98187483395831E-06" ixy="-4.9463629774215E-07" ixz="1.48034880030095E-07" iyy="8.21760971089748E-06" iyz="-5.85388102153786E-08" izz="9.53856476569885E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_thumb_rota_joint2" type="revolute">
+    <origin xyz="0.0553 0 0" rpy="0 0 0" />
+    <parent link="right_hand_thumb_rota_link1" />
+    <child link="right_hand_thumb_rota_link2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.175" upper="1.83" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_thumb_rota_tip">
+    <!-- <inertial>
+      <origin xyz="8.28680735143195E-10 -8.2445667376474E-09 2.77555756156289E-16" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="9.35114688295028E-14" ixy="1.78168632222544E-20" ixz="5.02898827078395E-30" iyy="3.97607820220018E-14" iyz="-6.5475455133344E-29" izz="9.35114688295088E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/right_hand_thumb_rota_tip.STL" /> -->
+        <sphere radius="0.001" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_thumb_rota_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hand_thumb_rota_joint3" type="fixed">
+    <origin xyz="0.0504024546888781 0 0" rpy="0 0 0" />
+    <parent link="right_hand_thumb_rota_link2" />
+    <child link="right_hand_thumb_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_index_bend_link">
+    <inertial>
+      <origin xyz="8.08448802515592E-05 0.000675884062860609 0.00420851049166139" rpy="0 0 0" />
+      <mass value="0.0677836037392839" />
+      <inertia ixx="2.16567127431793E-05" ixy="9.29177767371407E-09" ixz="2.1345292815894E-07" iyy="2.09689353738481E-05" iyz="-6.68676922531782E-07" izz="3.39593434952634E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.43921568627451 0.43921568627451 0.43921568627451 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_bend_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_bend_joint" type="revolute">
+    <origin xyz="0.0265 0.0065 -0.0899" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_index_bend_link" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.175" upper="0.175" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_index_rota_link1">
+    <inertial>
+      <origin xyz="-0.000139769529292743 -0.0008005173406112 -0.0356038554391181" rpy="0 0 0" />
+      <mass value="0.0630216027459696" />
+      <inertia ixx="2.05187473304044E-05" ixy="7.80203520045171E-09" ixz="4.29054958401514E-07" iyy="1.92422623666435E-05" iyz="2.47028335879796E-07" izz="4.15027364465252E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_joint1" type="revolute">
+    <origin xyz="0 0 -0.0178" rpy="0 0 0" />
+    <parent link="right_hand_index_bend_link" />
+    <child link="right_hand_index_rota_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_index_rota_link2">
+    <inertial>
+      <origin xyz="-0.000338569409191088 1.93676000460963E-05 -0.0231328539090889" rpy="0 0 0" />
+      <mass value="0.0179923076356481" />
+      <inertia ixx="3.01810066952146E-06" ixy="-4.92126710010375E-10" ixz="9.0999129965313E-08" iyy="3.01983543305207E-06" iyz="5.99900021060723E-08" izz="9.88538897829343E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_index_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_index_rota_link1" />
+    <child link="right_hand_index_rota_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_index_rota_tip">
+    <!-- <inertial>
+      <origin xyz="-2.98372437868011E-16 4.86850143532891E-15 -2.77555756156289E-17" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.31827422870135E-29" ixz="1.6690203866884E-29" iyy="9.35114688295087E-14" iyz="1.37887768889562E-41" izz="9.35114688295087E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/right_hand_index_rota_tip.STL" /> -->
+        <sphere radius="0.001" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_index_rota_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hand_index_rota_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999993" rpy="0 0 0" />
+    <parent link="right_hand_index_rota_link2" />
+    <child link="right_hand_index_rota_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_mid_link1">
+    <inertial>
+      <origin xyz="-0.000139769452255069 -0.000800516966578778 -0.0356038561997856" rpy="0 0 0" />
+      <mass value="0.0630216005457211" />
+      <inertia ixx="2.05187463723375E-05" ixy="7.80208491082156E-09" ixz="4.29054729251827E-07" iyy="1.92422616109533E-05" iyz="2.47027898316091E-07" izz="4.15027334868904E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_mid_joint1" type="revolute">
+    <origin xyz="0.004 0.0065 -0.1082" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_mid_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_mid_link2">
+    <inertial>
+      <origin xyz="-0.000338569410644367 1.93676002657236E-05 -0.0231328539105626" rpy="0 0 0" />
+      <mass value="0.0179923076388667" />
+      <inertia ixx="3.01810066972044E-06" ixy="-4.92126597550988E-10" ixz="9.09991296960493E-08" iyy="3.01983543347029E-06" iyz="5.99900021064019E-08" izz="9.88538897954892E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_mid_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_mid_link1" />
+    <child link="right_hand_mid_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.94" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_mid_tip">
+    <!-- <inertial>
+      <origin xyz="8.67361737988404E-19 6.7992486640911E-15 -0.000393026889207115" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.6998091400205E-29" ixz="1.72625026613961E-29" iyy="9.35114688295087E-14" iyz="-1.34632261157722E-30" izz="9.35114688295087E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/right_hand_mid_tip.STL" /> -->
+        <sphere radius="0.001" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_mid_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hand_mid_joint3" type="fixed">
+    <origin xyz="0 0 -0.042107" rpy="0 0 0" />
+    <parent link="right_hand_mid_link2" />
+    <child link="right_hand_mid_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_ring_link1">
+    <inertial>
+      <origin xyz="-0.000139769594263359 -0.000800517227339018 -0.0356038552802108" rpy="0 0 0" />
+      <mass value="0.0630216021699602" />
+      <inertia ixx="2.05187476755252E-05" ixy="7.80199293997393E-09" ixz="4.29055082722493E-07" iyy="1.92422628261764E-05" iyz="2.47028487672885E-07" izz="4.15027358505553E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_joint1" type="revolute">
+    <origin xyz="-0.016 0.0065 -0.1052" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_ring_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_ring_link2">
+    <inertial>
+      <origin xyz="-0.00033857292489315 1.9362209649449E-05 -0.0231328478093387" rpy="0 0 0" />
+      <mass value="0.0179922978524175" />
+      <inertia ixx="3.01809858290111E-06" ixy="-4.91620007394315E-10" ixz="9.09983307330798E-08" iyy="3.01983382489043E-06" iyz="5.99889823171253E-08" izz="9.88537681686488E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_ring_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_ring_link1" />
+    <child link="right_hand_ring_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_ring_tip">
+    <!-- <inertial>
+      <origin xyz="-6.93889390390723E-18 6.85042300663241E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528852E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.5336858465537E-29" ixz="1.6690203866884E-29" iyy="9.35114688295086E-14" iyz="1.38111976643854E-41" izz="9.35114688295086E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/right_hand_ring_tip.STL" /> -->
+        <sphere radius="0.001" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_ring_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hand_ring_joint3" type="fixed">
+    <origin xyz="0 0 -0.0424999999999994" rpy="0 0 0" />
+    <parent link="right_hand_ring_link2" />
+    <child link="right_hand_ring_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_hand_pinky_link1">
+    <inertial>
+      <origin xyz="-0.000139769192568043 -0.000800516820207079 -0.035603856454747" rpy="0 0 0" />
+      <mass value="0.0630215991316208" />
+      <inertia ixx="2.05187455958907E-05" ixy="7.80222924483364E-09" ixz="4.29054564778114E-07" iyy="1.92422608092939E-05" iyz="2.47027716010302E-07" izz="4.15027320974138E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_joint1" type="revolute">
+    <origin xyz="-0.036 0.0065 -0.1022" rpy="0 0 0" />
+    <parent link="right_hand_link" />
+    <child link="right_hand_pinky_link1" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="1.1" velocity="8.63" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_pinky_link2">
+    <inertial>
+      <origin xyz="-0.000338569414719665 1.93675989681556E-05 -0.0231328539159371" rpy="0 0 0" />
+      <mass value="0.0179923076462156" />
+      <inertia ixx="3.0181006709957E-06" ixy="-4.92126474056121E-10" ixz="9.0999128816634E-08" iyy="3.01983543495617E-06" iyz="5.99900018674419E-08" izz="9.88538897929235E-07" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_hand_pinky_joint2" type="revolute">
+    <origin xyz="0 0 -0.0558" rpy="0 0 0" />
+    <parent link="right_hand_pinky_link1" />
+    <child link="right_hand_pinky_link2" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="1.92" effort="0.4" velocity="14.38" />
+    <dynamics damping="1" friction="1" />
+  </joint>
+  <link name="right_hand_pinky_tip">
+    <!-- <inertial>
+      <origin xyz="2.08166817117217E-17 9.41000749543619E-15 0" rpy="0 0 0" />
+      <mass value="3.53429173528851E-08" />
+      <inertia ixx="3.97607820219958E-14" ixy="4.31827422870134E-29" ixz="1.66902038668838E-29" iyy="9.35114688295085E-14" iyz="1.37887768889562E-41" izz="9.35114688295085E-14" />
+    </inertial> -->
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <!-- <mesh filename="meshes/right_hand_pinky_tip.STL" /> -->
+        <sphere radius="0.001" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/right_hand_pinky_tip.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="right_hand_pinky_joint3" type="fixed">
+    <origin xyz="0 0 -0.0425" rpy="0 0 0" />
+    <parent link="right_hand_pinky_link2" />
+    <child link="right_hand_pinky_tip" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_ikrollout.npz b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d48537f554ef8532f6a2155570a5c338d721dcca
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 159062
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_kinematic.npz b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..257817f2fe3580abecb93808225b368e97e718c7
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 726924
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_ik.mp4 b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bc951b561fa08d8f035e18ff6f1db770f8e11aa
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 326660
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/scene.xml b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..31b58c61813c136d7a5d953e924c6fe8508307a7
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/scene.xml
@@ -0,0 +1,661 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="1"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/106957734975303/convex/0.obj"/>
+    <mesh name="right_1" file="objects/106957734975303/convex/1.obj"/>
+    <mesh name="right_2" file="objects/106957734975303/convex/2.obj"/>
+    <mesh name="right_3" file="objects/106957734975303/convex/3.obj"/>
+    <mesh name="right_4" file="objects/106957734975303/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/106957734975303/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom name="collision_hand_right_thumb_0" size="0.005 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
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+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
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+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
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+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom name="collision_hand_right_middle_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom name="collision_hand_right_middle_0" size="0.005 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom name="collision_hand_right_ring_0" size="0.005 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="3000" 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"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_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" 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="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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/scene_eq.xml b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..625a7aaa1c35bde8cfd5b454af810615cd01c393
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/scene_eq.xml
@@ -0,0 +1,684 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="1"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/106957734975303/convex/0.obj"/>
+    <mesh name="right_1" file="objects/106957734975303/convex/1.obj"/>
+    <mesh name="right_2" file="objects/106957734975303/convex/2.obj"/>
+    <mesh name="right_3" file="objects/106957734975303/convex/3.obj"/>
+    <mesh name="right_4" file="objects/106957734975303/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/106957734975303/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom name="collision_hand_right_thumb_0" size="0.005 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
+          <geom name="collision_hand_right_index_0" size="0.005 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom name="collision_hand_right_middle_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom name="collision_hand_right_middle_0" size="0.005 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom name="collision_hand_right_ring_0" size="0.005 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="3000" 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"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_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" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_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"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </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="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..629de8e96ddd6f443e3b2f4f459ca525081617b4
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json
@@ -0,0 +1,14 @@
+{
+  "task": "P0001_4bf4e21a-obj106957734975303",
+  "dataset_name": "hot3d",
+  "robot_type": "inspire",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/106957734975303",
+  "left_object_mesh_dir": null,
+  "object_uid": "106957734975303",
+  "sequence_name": "P0001_4bf4e21a",
+  "ref_dt": 0.02,
+  "dataset_dir": "example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/106957734975303/convex"
+}
\ No newline at end of file
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_ikrollout.npz b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6120908bcf5b629b4046f2ed2b7b3586ab2c0b41
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be94ba6d9a52c01d11b9a33e603887462c280bbe607c6bad123c86f90139f89
+size 167062
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_kinematic.npz b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..295b9e31aed551fc3c9a22d9a9df4f95a2723bd0
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cec521df3c56644abc185e2b465bfe3e04b89be6cbc429fb00a3553f0ec33f4
+size 763404
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_ik.mp4 b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91ad12267757f539069c64c16a79853e1ced68e7
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d757260d0708cd882544a75ec88bb08a0914a8c84e4cba44803480bb480ba00
+size 383599
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/scene.xml b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d426a5aa456bea68081fd266307a1c085924d08c
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/scene.xml
@@ -0,0 +1,861 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="1"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/111305855142671/convex/0.obj"/>
+    <mesh name="right_1" file="objects/111305855142671/convex/1.obj"/>
+    <mesh name="right_10" file="objects/111305855142671/convex/10.obj"/>
+    <mesh name="right_11" file="objects/111305855142671/convex/11.obj"/>
+    <mesh name="right_12" file="objects/111305855142671/convex/12.obj"/>
+    <mesh name="right_2" file="objects/111305855142671/convex/2.obj"/>
+    <mesh name="right_3" file="objects/111305855142671/convex/3.obj"/>
+    <mesh name="right_4" file="objects/111305855142671/convex/4.obj"/>
+    <mesh name="right_5" file="objects/111305855142671/convex/5.obj"/>
+    <mesh name="right_6" file="objects/111305855142671/convex/6.obj"/>
+    <mesh name="right_7" file="objects/111305855142671/convex/7.obj"/>
+    <mesh name="right_8" file="objects/111305855142671/convex/8.obj"/>
+    <mesh name="right_9" file="objects/111305855142671/convex/9.obj"/>
+    <mesh name="right_visual" file="objects/111305855142671/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom name="collision_hand_right_thumb_0" size="0.005 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
+          <geom name="collision_hand_right_index_0" size="0.005 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom name="collision_hand_right_middle_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom name="collision_hand_right_middle_0" size="0.005 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom name="collision_hand_right_ring_0" size="0.005 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_11" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </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" 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_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_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_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_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_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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_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_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_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_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_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_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_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_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_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_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_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_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_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/scene_eq.xml b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8da58faa020062a21af96c002ed16f06db1b7ce
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/scene_eq.xml
@@ -0,0 +1,884 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="1"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/111305855142671/convex/0.obj"/>
+    <mesh name="right_1" file="objects/111305855142671/convex/1.obj"/>
+    <mesh name="right_10" file="objects/111305855142671/convex/10.obj"/>
+    <mesh name="right_11" file="objects/111305855142671/convex/11.obj"/>
+    <mesh name="right_12" file="objects/111305855142671/convex/12.obj"/>
+    <mesh name="right_2" file="objects/111305855142671/convex/2.obj"/>
+    <mesh name="right_3" file="objects/111305855142671/convex/3.obj"/>
+    <mesh name="right_4" file="objects/111305855142671/convex/4.obj"/>
+    <mesh name="right_5" file="objects/111305855142671/convex/5.obj"/>
+    <mesh name="right_6" file="objects/111305855142671/convex/6.obj"/>
+    <mesh name="right_7" file="objects/111305855142671/convex/7.obj"/>
+    <mesh name="right_8" file="objects/111305855142671/convex/8.obj"/>
+    <mesh name="right_9" file="objects/111305855142671/convex/9.obj"/>
+    <mesh name="right_visual" file="objects/111305855142671/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
+        <joint name="right_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_R"/>
+        <body name="right_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
+          <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
+          <joint name="right_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_R"/>
+          <geom name="collision_hand_right_thumb_1" size="0.01 0.0317451" pos="0.022392 0.0163635 -0.005" quat="0.707107 0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="right_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
+            <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom name="collision_hand_right_thumb_0" size="0.005 0.0184593" pos="0.0029552 0.0028038 -0.00299511" quat="0.762317 0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="track_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+              <site name="trace_hand_right_thumb_tip" pos="0.0159104 0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_index_proximal" pos="0.00028533 -0.13653 -0.032268" quat="0.0174454 -0.999848 0 0">
+        <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
+        <joint name="right_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_R"/>
+        <geom name="collision_hand_right_index_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_index_intermediate" pos="-0.0026138 0.032026 -0.001">
+          <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
+          <joint name="right_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_R"/>
+          <geom name="collision_hand_right_index_0" size="0.005 0.0221315" pos="0.000439735 0.0216566 -0.00500524" quat="0.70719 0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="track_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+          <site name="trace_hand_right_index_tip" pos="-0.00412053 0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_middle_proximal" pos="0.00028533 -0.1371 -0.01295" quat="-3.67321e-06 -1 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_R"/>
+        <geom name="collision_hand_right_middle_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
+          <joint name="right_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_R"/>
+          <geom name="collision_hand_right_middle_0" size="0.005 0.0237585" pos="0.000365605 0.0233022 -0.00499339" quat="0.707008 0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="track_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+          <site name="trace_hand_right_middle_tip" pos="-0.00426879 0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="right_ring_proximal" pos="0.00028533 -0.13691 0.0062872" quat="0.0261933 0.999657 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_R"/>
+        <geom name="collision_hand_right_ring_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
+          <joint name="right_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_R"/>
+          <geom name="collision_hand_right_ring_0" size="0.005 0.0221058" pos="0.00066723 0.021677 -0.00500524" quat="0.707191 0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="track_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+          <site name="trace_hand_right_ring_tip" pos="-0.00366554 0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="right_pinky_proximal" pos="0.00028533 -0.13571 0.025488" quat="0.0523224 0.99863 0 0">
+        <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
+        <joint name="right_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_R"/>
+        <geom name="collision_hand_right_pinky_1" size="0.005 0.0208339" pos="0.000851 0.011381 -0.005" quat="0.707107 0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="right_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
+          <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
+          <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom name="collision_hand_left_thumb_0" size="0.005 0.0184593" pos="0.0029552 -0.0028038 -0.00299511" quat="0.762317 -0.454944 -0.460324 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+              <site name="left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="track_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+              <site name="trace_hand_left_thumb_tip" pos="0.0159104 -0.0156076 -0.00599021"/>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_index_proximal" pos="0.00028533 -0.13653 0.032268" quat="0.999848 -0.0174526 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_11" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </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" 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_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_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_10" name="collision_hand_right_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_11" name="collision_hand_right_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_12" name="collision_hand_right_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_9" name="collision_hand_right_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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_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_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_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_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_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_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_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_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_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_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_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_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_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_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_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="right_pos_x_position" joint="right_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_proximal_yaw_position" joint="right_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="right_thumb_proximal_pitch_position" joint="right_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="right_thumb_intermediate_position" joint="right_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="right_thumb_distal_position" joint="right_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="right_index_proximal_position" joint="right_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_index_intermediate_position" joint="right_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_proximal_position" joint="right_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_middle_intermediate_position" joint="right_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_proximal_position" joint="right_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_ring_intermediate_position" joint="right_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_proximal_position" joint="right_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="right_pinky_intermediate_position" joint="right_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-1 1" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_proximal_yaw_position" joint="left_thumb_proximal_yaw_joint" ctrlrange="-0.1 1.3"/>
+    <general name="left_thumb_proximal_pitch_position" joint="left_thumb_proximal_pitch_joint" ctrlrange="0 0.5"/>
+    <general name="left_thumb_intermediate_position" joint="left_thumb_intermediate_joint" ctrlrange="0 0.8"/>
+    <general name="left_thumb_distal_position" joint="left_thumb_distal_joint" ctrlrange="0 1.2"/>
+    <general name="left_index_proximal_position" joint="left_index_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_index_intermediate_position" joint="left_index_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_proximal_position" joint="left_middle_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_middle_intermediate_position" joint="left_middle_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_proximal_position" joint="left_ring_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_ring_intermediate_position" joint="left_ring_intermediate_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_proximal_position" joint="left_pinky_proximal_joint" ctrlrange="0 1.7"/>
+    <general name="left_pinky_intermediate_position" joint="left_pinky_intermediate_joint" ctrlrange="0 1.7"/>
+  </actuator>
+</mujoco>
diff --git a/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..128ffd6df33598b931e2f9854f9d82aa04f64566
--- /dev/null
+++ b/processed/hot3d/inspire/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json
@@ -0,0 +1,14 @@
+{
+  "task": "P0001_4bf4e21a-obj111305855142671",
+  "dataset_name": "hot3d",
+  "robot_type": "inspire",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/111305855142671",
+  "left_object_mesh_dir": null,
+  "object_uid": "111305855142671",
+  "sequence_name": "P0001_4bf4e21a",
+  "ref_dt": 0.02,
+  "dataset_dir": "../example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/111305855142671/convex"
+}
\ No newline at end of file
diff --git a/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json b/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json
index b2f8ef16b40bb2f83e2b9f52eca59ff9253f0e94..4932985fbeb5113f20bdc622d6dbacbabd17d0fe 100644
--- a/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json
+++ b/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json
@@ -4,10 +4,11 @@
   "robot_type": "mano",
   "embodiment_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "../example_datasets/processed/hot3d/assets/objects/106957734975303",
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/106957734975303",
   "left_object_mesh_dir": null,
   "object_uid": "106957734975303",
   "sequence_name": "P0001_4bf4e21a",
-  "ref_dt": 9.31e-05,
-  "dataset_dir": "../example_datasets"
+  "ref_dt": 0.02,
+  "dataset_dir": "example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/106957734975303/convex"
 }
\ No newline at end of file
diff --git a/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json b/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json
index 7fd6468df7728f94f69706bf31afef9cd2a7d45f..68982de814f7962fda62e2de30be9e58a4fc0561 100644
--- a/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json
+++ b/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json
@@ -4,10 +4,11 @@
   "robot_type": "mano",
   "embodiment_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "../example_datasets/processed/hot3d/assets/objects/111305855142671",
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/111305855142671",
   "left_object_mesh_dir": null,
   "object_uid": "111305855142671",
   "sequence_name": "P0001_4bf4e21a",
-  "ref_dt": 9.31e-05,
-  "dataset_dir": "../example_datasets"
+  "ref_dt": 0.02,
+  "dataset_dir": "../example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/111305855142671/convex"
 }
\ No newline at end of file
diff --git a/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json b/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json
index 427b1ac1c21db06a2b46481a2043003744719d6e..94423a03cc82bd4a29baa29da55f6b1702d618da 100644
--- a/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json
+++ b/processed/hot3d/mano/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json
@@ -4,10 +4,11 @@
   "robot_type": "mano",
   "embodiment_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "../example_datasets/processed/hot3d/assets/objects/96945373046044",
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/96945373046044",
   "left_object_mesh_dir": null,
   "object_uid": "96945373046044",
   "sequence_name": "P0001_4bf4e21a",
-  "ref_dt": 9.31e-05,
-  "dataset_dir": "../example_datasets"
-}
\ No newline at end of file
+  "ref_dt": 0.02,
+  "dataset_dir": "example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/96945373046044/convex"
+}
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_ikrollout.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1233a6dc6bbc7919f38659988200333cbafc70eb
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c300532528ba79ecfa07917dd94035fb47ef908c0ffc6fec016735cc20ca4034
+size 119062
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_kinematic.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0cb8a7d0f554fbc0cebd913c4044ef09c23cdef2
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4973301d1d53ce81e19c6a312de9a04cab59e98e5741e8eb8f1d67f8c936dada
+size 544524
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_mjwp.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c06344a5129ef1b119989e401588e3626300fdf1
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff11e50b38024b5025b5293bd4a43ee5bd9f9e1c082e3d8cb175e50b3f3c3081
+size 695062
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_ik.mp4 b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a5016d3d85ea61b13eba900ded6559c0fdedb9d
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50de660273bd282986fa54960cfa2b4940f10e42fd1257d93acc38b353995ce
+size 253143
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_mjwp.mp4 b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d97bdd450d87fdfa8a2e26af3c27518ecd689d1
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c82046c02be551883f6eef167ddc85162e89dbb37d6b7c77c29e830c9f793fc
+size 505018
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/scene.xml b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ca34eb60e46c92fa17d5afaf8c448f77c1d1f22e
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/scene.xml
@@ -0,0 +1,677 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/106957734975303/convex/0.obj"/>
+    <mesh name="right_1" file="objects/106957734975303/convex/1.obj"/>
+    <mesh name="right_2" file="objects/106957734975303/convex/2.obj"/>
+    <mesh name="right_3" file="objects/106957734975303/convex/3.obj"/>
+    <mesh name="right_4" file="objects/106957734975303/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/106957734975303/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                  </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="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
+                  <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
+                  <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
+                  <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
+                    <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
+                    <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
+                      <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
+                      <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                      <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
+                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
+                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
+                  <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
+                  <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
+                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
+                  <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                  </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" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </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" 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="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_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="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_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_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_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"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <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="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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </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/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/scene_eq.xml b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..23321778da99812498df8669d12c5a76f8ba1c5c
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/scene_eq.xml
@@ -0,0 +1,700 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/106957734975303/convex/0.obj"/>
+    <mesh name="right_1" file="objects/106957734975303/convex/1.obj"/>
+    <mesh name="right_2" file="objects/106957734975303/convex/2.obj"/>
+    <mesh name="right_3" file="objects/106957734975303/convex/3.obj"/>
+    <mesh name="right_4" file="objects/106957734975303/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/106957734975303/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                  </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="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
+                  <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
+                  <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
+                  <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
+                    <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
+                    <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
+                      <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
+                      <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                      <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
+                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
+                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
+                  <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
+                  <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
+                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
+                  <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                  </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" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </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" 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="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_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="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_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_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_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"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <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="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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </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/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e709178e5d03dcfe470372fcea36b82413233882
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj106957734975303/task_info.json
@@ -0,0 +1,14 @@
+{
+  "task": "P0001_4bf4e21a-obj106957734975303",
+  "dataset_name": "hot3d",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/106957734975303",
+  "left_object_mesh_dir": null,
+  "object_uid": "106957734975303",
+  "sequence_name": "P0001_4bf4e21a",
+  "ref_dt": 0.02,
+  "dataset_dir": "example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/106957734975303/convex"
+}
\ No newline at end of file
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_ikrollout.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bf0ea78d718cd4e6f6a8c49e0c3cd4c81b0195af
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2746f8b025b320732c6a9a9038ffb00fda613c227ec14bc25c68c38c5ac0465
+size 167062
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_kinematic.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc79dc960adca3edc5f55b12b1a98ebe6c7db5f8
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1f689b2231248aba5c649d0e766d8bdbf3b1ab69d04c4d5ae2fbc871ac2ef8
+size 763404
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_mjwp.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30c618356d0fc06a3ac621261e33725f5556ba7c
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d72cb2f48d742abac5cfb45d10c2ab03495972c5e819b384a6de03f5d656223
+size 970438
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_ik.mp4 b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2d6a41b45f2d841963cae7ee5bb64af577cff775
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cae68fe17a918f0623eb5806e3d20bc6193fb0c9b22dbe91aa4aaa38878f5273
+size 342719
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_mjwp.mp4 b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c6aff78bddb824f072185f18d15516f16aa501a
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946708866b7690f99adcba59e4993b952401f5efdb782c98f6d5ec0b2b35ab73
+size 709236
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/scene.xml b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cf940710aa4a817185b5dfce2b4e68cfe7505fb1
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/scene.xml
@@ -0,0 +1,1510 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/" />
+
+  <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
+      width="512" height="3072" />
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge"
+      rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7"
+      rgb2="0 0 0" width="512" height="3072" />
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
+      rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800" />
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
+      reflectance="0.2" />
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5"
+      reflectance="0.2" />
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <mesh name="right_hand_link" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_link.STL" />
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_thumb_bend_link.STL" />
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_thumb_rota_link1.STL" />
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_thumb_rota_link2.STL" />
+    <mesh name="right_hand_index_bend_link" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_index_bend_link.STL" />
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_index_rota_link1.STL" />
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_index_rota_link2.STL" />
+    <mesh name="right_hand_mid_link1" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_mid_link1.STL" />
+    <mesh name="right_hand_mid_link2" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_mid_link2.STL" />
+    <mesh name="right_hand_ring_link1" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_ring_link1.STL" />
+    <mesh name="right_hand_ring_link2" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_ring_link2.STL" />
+    <mesh name="right_hand_pinky_link1" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_pinky_link1.STL" />
+    <mesh name="right_hand_pinky_link2" content_type="model/stl"
+      file="robots/xhand/assets/right_hand_pinky_link2.STL" />
+    <mesh name="left_hand_link" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_link.STL" />
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_thumb_bend_link.STL" />
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_thumb_rota_link1.STL" />
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_thumb_rota_link2.STL" />
+    <mesh name="left_hand_index_bend_link" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_index_bend_link.STL" />
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_index_rota_link1.STL" />
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_index_rota_link2.STL" />
+    <mesh name="left_hand_mid_link1" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_mid_link1.STL" />
+    <mesh name="left_hand_mid_link2" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_mid_link2.STL" />
+    <mesh name="left_hand_ring_link1" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_ring_link1.STL" />
+    <mesh name="left_hand_ring_link2" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_ring_link2.STL" />
+    <mesh name="left_hand_pinky_link1" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_pinky_link1.STL" />
+    <mesh name="left_hand_pinky_link2" content_type="model/stl"
+      file="robots/xhand/assets/left_hand_pinky_link2.STL" />
+    <mesh name="right_0" file="objects/111305855142671/convex/0.obj" />
+    <mesh name="right_1" file="objects/111305855142671/convex/1.obj" />
+    <mesh name="right_10" file="objects/111305855142671/convex/10.obj" />
+    <mesh name="right_11" file="objects/111305855142671/convex/11.obj" />
+    <mesh name="right_12" file="objects/111305855142671/convex/12.obj" />
+    <mesh name="right_2" file="objects/111305855142671/convex/2.obj" />
+    <mesh name="right_3" file="objects/111305855142671/convex/3.obj" />
+    <mesh name="right_4" file="objects/111305855142671/convex/4.obj" />
+    <mesh name="right_5" file="objects/111305855142671/convex/5.obj" />
+    <mesh name="right_6" file="objects/111305855142671/convex/6.obj" />
+    <mesh name="right_7" file="objects/111305855142671/convex/7.obj" />
+    <mesh name="right_8" file="objects/111305855142671/convex/8.obj" />
+    <mesh name="right_9" file="objects/111305855142671/convex/9.obj" />
+    <mesh name="right_visual" file="objects/111305855142671/visual.obj" />
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane" />
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
+      mode="trackcom" />
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" />
+      <camera name="right_track" pos="-0.868 -0.348 -0.175"
+        quat="0.493349 0.487956 0.506363 0.51196" />
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" />
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" />
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" />
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" />
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807"
+                  quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025"
+                  diaginertia="0.00067782 0.000491189 0.000335821" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0"
+                  rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link" />
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06"
+                  type="box" group="3" rgba="0 1 0 1" />
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0"
+                  size="0.01 0.02 0.03" type="box" />
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926"
+                    quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529"
+                    diaginertia="1.30647e-06 1.29142e-06 5.40953e-07" />
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83" />
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0"
+                    rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link" />
+                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0"
+                    quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178"
+                    quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577"
+                      quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265"
+                      diaginertia="5.62327e-05 4.89801e-05 2.23924e-05" />
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0"
+                      range="-1.05 1.57" />
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0"
+                      rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1" />
+                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0"
+                      quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232"
+                        quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004"
+                        diaginertia="9.5465e-06 8.27017e-06 3.92137e-06" />
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0"
+                        range="-0.175 1.83" />
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0"
+                        rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2" />
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0"
+                        quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0"
+                        rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="right_thumb_tip" pos="0.0504025 0 0" />
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0" />
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0" />
+                    </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="0.008 0.0275" pos="0 0 -0.0275"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
+                        quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923"
+                        diaginertia="3.02409e-06 3.01968e-06 9.82703e-07" />
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92" />
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0"
+                        rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2" />
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015"
+                        type="capsule" group="3" rgba="0 1 0 1" />
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0"
+                        rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="right_index_tip" pos="0 0 -0.0425" />
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425" />
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425" />
+                    </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="0.008 0.0275" pos="0 0 -0.0275"
+                    type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
+                      quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923"
+                      diaginertia="3.02409e-06 3.01968e-06 9.82703e-07" />
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94" />
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0"
+                      rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2" />
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0"
+                      rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="right_middle_tip" pos="0 0 -0.042107" />
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107" />
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107" />
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039"
+                    quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216"
+                    diaginertia="2.05301e-05 1.92461e-05 4.135e-06" />
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92" />
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0"
+                    rgba="1 1 1 1" mesh="right_hand_ring_link1" />
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275"
+                    type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328"
+                      quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923"
+                      diaginertia="3.02409e-06 3.01968e-06 9.82702e-07" />
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92" />
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0"
+                      rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2" />
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0"
+                      rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="right_ring_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425" />
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039"
+                    quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216"
+                    diaginertia="2.05301e-05 1.92461e-05 4.135e-06" />
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92" />
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0"
+                    rgba="1 1 1 1" mesh="right_hand_pinky_link1" />
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275"
+                    type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329"
+                      quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923"
+                      diaginertia="3.02409e-06 3.01968e-06 9.82703e-07" />
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92" />
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0"
+                      rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2" />
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0"
+                      rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="right_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425" />
+                  </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="0.03 0.02 0.04" pos="0 0 -0.06"
+                  type="box" group="3" rgba="0 1 0 1" />
+                <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0"
+                  size="0.01 0.02 0.03" type="box" />
+                <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
+                  <inertial pos="0.0145291 0.000901344 -0.000127912"
+                    quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534"
+                    diaginertia="1.30648e-06 1.29142e-06 5.40957e-07" />
+                  <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83" />
+                  <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0"
+                    rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link" />
+                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0"
+                    quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178"
+                    quat="0.99124 -0.130499 0.00265603 -0.0201745">
+                    <inertial pos="0.0279279 0.000121046 -0.000277543"
+                      quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197"
+                      diaginertia="5.62164e-05 4.89587e-05 2.23807e-05" />
+                    <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0"
+                      range="-1.05 1.57" />
+                    <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0"
+                      rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1" />
+                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0"
+                      quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224529 0.000690615 0.00314279"
+                        quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401"
+                        diaginertia="9.54692e-06 8.2705e-06 3.92141e-06" />
+                      <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0"
+                        range="-0.17 1.83" />
+                      <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0"
+                        rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2" />
+                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0"
+                        quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1" />
+                      <geom size="0.001" pos="0.0504017 0 0" group="1" density="0"
+                        rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="left_thumb_tip" pos="0.0504017 0 0" />
+                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0" />
+                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0" />
+                    </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="0.008 0.0275" pos="0 0 -0.0275"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
+                        quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923"
+                        diaginertia="3.02409e-06 3.01968e-06 9.82703e-07" />
+                      <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" />
+                      <geom name="left_index_rota2_visual" type="mesh" group="1" density="0"
+                        rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2" />
+                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015"
+                        type="capsule" group="3" rgba="0 1 0 1" />
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0"
+                        rgba="0.698039 0.698039 0.698039 1" />
+                      <site name="left_index_tip" pos="0 0 -0.0425" />
+                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425" />
+                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425" />
+                    </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="0.008 0.0275" pos="0 0 -0.0275"
+                    type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338572 -1.93625e-05 -0.0231328"
+                      quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923"
+                      diaginertia="3.02409e-06 3.01968e-06 9.82702e-07" />
+                    <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" />
+                    <geom name="left_middle_link2_visual" type="mesh" group="1" density="0"
+                      rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2" />
+                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0"
+                      rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="left_middle_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425" />
+                  </body>
+                </body>
+                <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
+                  <inertial pos="0.00013977 0.000800517 -0.0356039"
+                    quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216"
+                    diaginertia="2.05301e-05 1.92461e-05 4.13501e-06" />
+                  <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92" />
+                  <geom name="left_ring_link1_visual" type="mesh" group="1" density="0"
+                    rgba="1 1 1 1" mesh="left_hand_ring_link1" />
+                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275"
+                    type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338569 -1.93676e-05 -0.0231329"
+                      quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923"
+                      diaginertia="3.02409e-06 3.01968e-06 9.82703e-07" />
+                    <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" />
+                    <geom name="left_ring_link2_visual" type="mesh" group="1" density="0"
+                      rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2" />
+                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0"
+                      rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="left_ring_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425" />
+                  </body>
+                </body>
+                <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
+                  <inertial pos="0.000139769 0.000800517 -0.0356039"
+                    quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216"
+                    diaginertia="2.05301e-05 1.92461e-05 4.135e-06" />
+                  <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92" />
+                  <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0"
+                    rgba="1 1 1 1" mesh="left_hand_pinky_link1" />
+                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275"
+                    type="capsule" group="3" rgba="0 1 0 1" />
+                  <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338573 -1.93618e-05 -0.0231328"
+                      quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923"
+                      diaginertia="3.02409e-06 3.01968e-06 9.82702e-07" />
+                    <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" />
+                    <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0"
+                      rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2" />
+                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015"
+                      type="capsule" group="3" rgba="0 1 0 1" />
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0"
+                      rgba="0.698039 0.698039 0.698039 1" />
+                    <site name="left_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425" />
+                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01" />
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0" />
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1" />
+      <geom name="right_object_10" type="mesh" group="3" density="3000" rgba="0 1 0 1"
+        mesh="right_10" />
+      <geom name="right_object_11" type="mesh" group="3" density="3000" rgba="0 1 0 1"
+        mesh="right_11" />
+      <geom name="right_object_12" type="mesh" group="3" density="3000" rgba="0 1 0 1"
+        mesh="right_12" />
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2" />
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3" />
+      <geom name="right_object_4" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_4" />
+      <geom name="right_object_5" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_5" />
+      <geom name="right_object_6" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_6" />
+      <geom name="right_object_7" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_7" />
+      <geom name="right_object_8" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_8" />
+      <geom name="right_object_9" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_9" />
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual" />
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1" />
+    </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" 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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/scene_eq.xml b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7e44ed0fdd3b42dab94dfbfeea2d94ff753c6828
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/scene_eq.xml
@@ -0,0 +1,916 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/111305855142671/convex/0.obj"/>
+    <mesh name="right_1" file="objects/111305855142671/convex/1.obj"/>
+    <mesh name="right_10" file="objects/111305855142671/convex/10.obj"/>
+    <mesh name="right_11" file="objects/111305855142671/convex/11.obj"/>
+    <mesh name="right_12" file="objects/111305855142671/convex/12.obj"/>
+    <mesh name="right_2" file="objects/111305855142671/convex/2.obj"/>
+    <mesh name="right_3" file="objects/111305855142671/convex/3.obj"/>
+    <mesh name="right_4" file="objects/111305855142671/convex/4.obj"/>
+    <mesh name="right_5" file="objects/111305855142671/convex/5.obj"/>
+    <mesh name="right_6" file="objects/111305855142671/convex/6.obj"/>
+    <mesh name="right_7" file="objects/111305855142671/convex/7.obj"/>
+    <mesh name="right_8" file="objects/111305855142671/convex/8.obj"/>
+    <mesh name="right_9" file="objects/111305855142671/convex/9.obj"/>
+    <mesh name="right_visual" file="objects/111305855142671/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                  </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="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
+                  <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
+                  <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
+                  <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
+                    <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
+                    <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
+                      <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
+                      <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                      <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
+                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
+                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
+                  <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
+                  <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
+                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
+                  <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_10" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_10"/>
+      <geom name="right_object_11" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_11"/>
+      <geom name="right_object_12" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_12"/>
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_8" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_8"/>
+      <geom name="right_object_9" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_9"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </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" 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_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_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_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <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_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_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_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_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_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_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"/>
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+    <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_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="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"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_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"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_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_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"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_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"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_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"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_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"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
+    <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_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_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_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_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/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2da5054bef553820234a203280868a8fb472ca8a
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj111305855142671/task_info.json
@@ -0,0 +1,14 @@
+{
+  "task": "P0001_4bf4e21a-obj111305855142671",
+  "dataset_name": "hot3d",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/111305855142671",
+  "left_object_mesh_dir": null,
+  "object_uid": "111305855142671",
+  "sequence_name": "P0001_4bf4e21a",
+  "ref_dt": 0.02,
+  "dataset_dir": "../example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/111305855142671/convex"
+}
\ No newline at end of file
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_ikrollout.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..716c85184283cc3ee7502aab35a6ef7b44ea0c45
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91c608181f6d551e4dbfd92c59bbcf07bbbc1f0920c279046ba98b9ac02aad5c
+size 79062
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_kinematic.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed294bb97a0f32d1dee0e2f1b77c60dcae6731c9
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20ef456cd61b0ec4da4c3b6f8ac8792a9d1e76aaecba68c5ed9b0a8991308568
+size 362124
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_mjwp.npz b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4876d4699f4f03249218891c14273fa709326e58
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba56f7baec1332d0f1467a90c7210f372b85e87735b704a008298fd626e188d
+size 465582
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_ik.mp4 b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ceb0aec7ce57a4588e0fa7a0e555e042baa07481
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f5486cc742752b7259d92931dbfcbeb67094caf6d0b6c625d51e75032b513b
+size 190348
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_mjwp.mp4 b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87967b06a09a33d845228b1664378a4e81457480
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be48dd28627868a2c91936399b42a77d9cc984ca5421e453e64ae2b5f4ad9850
+size 381367
diff --git a/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/scene.xml b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e4b327dafe37708e16fe9ba977ab6cb66119246
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/scene.xml
@@ -0,0 +1,677 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/96945373046044/convex/0.obj"/>
+    <mesh name="right_1" file="objects/96945373046044/convex/1.obj"/>
+    <mesh name="right_2" file="objects/96945373046044/convex/2.obj"/>
+    <mesh name="right_3" file="objects/96945373046044/convex/3.obj"/>
+    <mesh name="right_4" file="objects/96945373046044/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/96945373046044/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                  </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="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
+                  <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
+                  <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
+                  <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
+                    <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
+                    <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
+                      <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
+                      <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                      <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
+                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
+                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
+                  <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
+                  <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
+                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
+                  <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="3000" 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"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_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" 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="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_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="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_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_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"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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"/>
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+    <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_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"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </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/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/scene_eq.xml b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cf4fc91c870b52d46a3a18ed86b18fc74b39e36f
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/scene_eq.xml
@@ -0,0 +1,700 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/96945373046044/convex/0.obj"/>
+    <mesh name="right_1" file="objects/96945373046044/convex/1.obj"/>
+    <mesh name="right_2" file="objects/96945373046044/convex/2.obj"/>
+    <mesh name="right_3" file="objects/96945373046044/convex/3.obj"/>
+    <mesh name="right_4" file="objects/96945373046044/convex/4.obj"/>
+    <mesh name="right_visual" file="objects/96945373046044/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
+                  <inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
+                    <inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
+                    <joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
+                      <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                      <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                      <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
+                      <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
+                    <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
+                    <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                    <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
+                  </body>
+                </body>
+                <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
+                  <inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
+                  <geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
+                    <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
+                  <inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                  <geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
+                    <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
+                  </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="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0 0.707107 -0.707107 0" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305">
+                  <inertial pos="0.0145291 0.000901344 -0.000127912" quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" diaginertia="1.30648e-06 1.29142e-06 5.40957e-07"/>
+                  <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83"/>
+                  <geom name="left_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="left_hand_thumb_bend_link"/>
+                  <geom name="collision_hand_left_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" quat="0.99124 -0.130499 0.00265603 -0.0201745">
+                    <inertial pos="0.0279279 0.000121046 -0.000277543" quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" diaginertia="5.62164e-05 4.89587e-05 2.23807e-05"/>
+                    <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
+                    <geom name="left_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1"/>
+                    <geom name="collision_hand_left_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0">
+                      <inertial pos="0.0224529 0.000690615 0.00314279" quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" diaginertia="9.54692e-06 8.2705e-06 3.92141e-06"/>
+                      <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
+                      <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
+                      <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                      <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_rota_link2" pos="0 0 -0.0558">
+                      <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                      <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                      <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
+                      <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                      <site name="left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
+                      <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
+                    </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="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_mid_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338572 -1.93625e-05 -0.0231328" quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
+                    <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
+                  <inertial pos="0.00013977 0.000800517 -0.0356039" quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.13501e-06"/>
+                  <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1"/>
+                  <geom name="collision_hand_left_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_ring_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338569 -1.93676e-05 -0.0231329" quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
+                    <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
+                    <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+                <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
+                  <inertial pos="0.000139769 0.000800517 -0.0356039" quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
+                  <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                  <geom name="left_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_pinky_link2" pos="0 0 -0.0558">
+                    <inertial pos="0.000338573 -1.93618e-05 -0.0231328" quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
+                    <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92"/>
+                    <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
+                    <site name="left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.001" frictionloss="0.01"/>
+      <geom name="right_object_0" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="3000" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="3000" 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"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_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" 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="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_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="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_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_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"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_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_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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"/>
+  </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/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..854cbb7aae1310741468792a997ef3d91dff1e3a
--- /dev/null
+++ b/processed/hot3d/xhand/bimanual/P0001_4bf4e21a-obj96945373046044/task_info.json
@@ -0,0 +1,14 @@
+{
+  "task": "P0001_4bf4e21a-obj96945373046044",
+  "dataset_name": "hot3d",
+  "robot_type": "xhand",
+  "embodiment_type": "bimanual",
+  "data_id": 0,
+  "right_object_mesh_dir": "processed/hot3d/assets/objects/96945373046044",
+  "left_object_mesh_dir": null,
+  "object_uid": "96945373046044",
+  "sequence_name": "P0001_4bf4e21a",
+  "ref_dt": 0.02,
+  "dataset_dir": "example_datasets",
+  "right_object_convex_dir": "processed/hot3d/assets/objects/96945373046044/convex"
+}
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/lift_board/task_info.json b/processed/oakink/ability/bimanual/lift_board/task_info.json
index 9b23913077f6fbdd1e547b39f2867c9ed601a9aa..936217038dfa1e482192fd05762252ee41294af1 100644
--- a/processed/oakink/ability/bimanual/lift_board/task_info.json
+++ b/processed/oakink/ability/bimanual/lift_board/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001",
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001/convex"
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
index ed61132f89a33378836e6d32bd938c87eca4b03f..98fb26df4c5480bfad08dc21c6fb5972b6cbf181 100644
--- a/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/ability/bimanual/pick_spoon_bowl/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/pour_tube/task_info.json b/processed/oakink/ability/bimanual/pour_tube/task_info.json
index 704378221a65ced0d8951087eeb0baa5ba75fe34..9c675e53b464e998351ceb14926d1939da7471e8 100644
--- a/processed/oakink/ability/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/ability/bimanual/pour_tube/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/stir_beaker/task_info.json b/processed/oakink/ability/bimanual/stir_beaker/task_info.json
index 6043b5823c0d009e7230089a173534e48ccf2064..5a74da8de880f1032b848026cf39b5c30c5ed33e 100644
--- a/processed/oakink/ability/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/ability/bimanual/stir_beaker/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
index 6a077dab0480b86ed2e4acc82a271b647478396b..34d52d2cc4d27bdac94739a59161dfc0ea90b120 100644
--- a/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/unplug/task_info.json b/processed/oakink/ability/bimanual/unplug/task_info.json
index 096f038b5e5b0a9d6d79410e91704d7f4ee5cc25..7e6e56d61167fc803527636b0e185bec6a018392 100644
--- a/processed/oakink/ability/bimanual/unplug/task_info.json
+++ b/processed/oakink/ability/bimanual/unplug/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/wipe_board/task_info.json b/processed/oakink/ability/bimanual/wipe_board/task_info.json
index 378fcf3c0594f6e77fc5eec4fe8ecf94cf95122e..06786ce920227ff2524809ee98e3edf00585689d 100644
--- a/processed/oakink/ability/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/ability/bimanual/wipe_board/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "ability",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/lift_board/task_info.json b/processed/oakink/allegro/bimanual/lift_board/task_info.json
index 5899a728778a13aa0a1b28e1b0c9ebe3ee191ccf..c48f7406642f7c81bc3fad94fa7be1066bf16f15 100644
--- a/processed/oakink/allegro/bimanual/lift_board/task_info.json
+++ b/processed/oakink/allegro/bimanual/lift_board/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001",
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001/convex"
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
index d6a5efc34bc7b02f12e1ab899e199a3e5b2d4a37..3f1b264dbf6c9deb4a405578f4337e1a1b6d0baa 100644
--- a/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/allegro/bimanual/pick_spoon_bowl/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/pour_tube/task_info.json b/processed/oakink/allegro/bimanual/pour_tube/task_info.json
index dec6fc01832eda38d48eb8c096e7c65d1b7c57ae..cfec3048a4111e453b39c66c3d576d2defef36b8 100644
--- a/processed/oakink/allegro/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/allegro/bimanual/pour_tube/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/stir_beaker/task_info.json b/processed/oakink/allegro/bimanual/stir_beaker/task_info.json
index a8ccf99d876262a72238d58df246dd69c2b6ceea..79df8879c25f11dca07fdb1d2b233add4670af70 100644
--- a/processed/oakink/allegro/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/allegro/bimanual/stir_beaker/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json
index 9762432677056eb5c3cedec42b69b42918fc9e86..c14cc64d8c00a3523f652014e92c1b189c9175de 100644
--- a/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/allegro/bimanual/uncap_alcohol_burner/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/unplug/task_info.json b/processed/oakink/allegro/bimanual/unplug/task_info.json
index f46ba31f52ecd0be98018070ecd98d77abfd024f..5bc298d0d9674f4e0ccfc4e3b793bc540b68ba01 100644
--- a/processed/oakink/allegro/bimanual/unplug/task_info.json
+++ b/processed/oakink/allegro/bimanual/unplug/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/wipe_board/task_info.json b/processed/oakink/allegro/bimanual/wipe_board/task_info.json
index c8dfc5332254ca2ddc38e667431e26ff4c2e07c6..999f80de35d04660c6a1c66bbb4eeac99fda1e59 100644
--- a/processed/oakink/allegro/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/allegro/bimanual/wipe_board/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "allegro",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/lift_board/task_info.json b/processed/oakink/inspire/bimanual/lift_board/task_info.json
index 31329e8bd0acbc23e114702eaa0fb8cdafd065aa..e1546f948a6546c705fb8598c7012c92fe4a8aa9 100644
--- a/processed/oakink/inspire/bimanual/lift_board/task_info.json
+++ b/processed/oakink/inspire/bimanual/lift_board/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001",
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001/convex"
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
index 75f2162f737559fe8b6ae50bb370b6cc849bc32f..be0a4745c892278083f4be2c16459b038e3a8591 100644
--- a/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/inspire/bimanual/pick_spoon_bowl/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/pour_tube/task_info.json b/processed/oakink/inspire/bimanual/pour_tube/task_info.json
index 8c8965c3959b1b8e93a0d0152053489d617eaef4..4794556b1b08fef39114fa70526a741ccbc3f492 100644
--- a/processed/oakink/inspire/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/inspire/bimanual/pour_tube/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/task_info.json b/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
index 70cee38130ee7f6c26384788578221e858eb5f56..1ec50a83b8932155a7389e932a2935b60cc9d566 100644
--- a/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
index e98e258930635bfad620620a3018c705c7b9ff62..db8a6bcdfdadc4d97cb13662c4bcb26e292832b9 100644
--- a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/unplug/task_info.json b/processed/oakink/inspire/bimanual/unplug/task_info.json
index 48c581c43229106220773eda7e40175101ca8e98..8a607a97fd4dcfc70effc627975367be744604d2 100644
--- a/processed/oakink/inspire/bimanual/unplug/task_info.json
+++ b/processed/oakink/inspire/bimanual/unplug/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/wipe_board/task_info.json b/processed/oakink/inspire/bimanual/wipe_board/task_info.json
index 05d48defce947e38a3732f9ba0e9489fcc9f73d0..cd6cffc1d29199de2a7976d07ea0866ee7605e81 100644
--- a/processed/oakink/inspire/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/inspire/bimanual/wipe_board/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "inspire",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/mano/bimanual/lift_board/task_info.json b/processed/oakink/mano/bimanual/lift_board/task_info.json
index 3875bf23ec48e6bd5ba42303de5e2e996df00bf7..043b5e6f61c92b3fc712b8446ac1b8452d745445 100644
--- a/processed/oakink/mano/bimanual/lift_board/task_info.json
+++ b/processed/oakink/mano/bimanual/lift_board/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001",
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001/convex"
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/mano/bimanual/pour_tube/task_info.json b/processed/oakink/mano/bimanual/pour_tube/task_info.json
index 2e71104f19ae82356016053c0942b213e7c44404..65a5e8ec1b7f65ce7352bcdacfc09349e74de123 100644
--- a/processed/oakink/mano/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/mano/bimanual/pour_tube/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/mano/bimanual/stir_beaker/task_info.json b/processed/oakink/mano/bimanual/stir_beaker/task_info.json
index 0225c0c6b491a09c71528ae2532185dd1ce3733f..31f23cace0ab26b85348b2c51f73a21cc4cf052f 100644
--- a/processed/oakink/mano/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/mano/bimanual/stir_beaker/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json b/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json
index fd223899b96bf884019f29428ad41ea88ecf0c4e..4248a57d276d1de76978f58565ca487a355f7c89 100644
--- a/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json
+++ b/processed/oakink/mano/bimanual/uncap_alcohol_burner/0/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0015@00022",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0015@00023",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0015@00022/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0015@00023/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0015@00022",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0015@00023",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0015@00022/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0015@00023/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json
index 13f135a0c8d6327518261ac8f0f1db79856bccf0..cc07dad2e3038083d1bc9b3c03cffab273583554 100644
--- a/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/mano/bimanual/uncap_alcohol_burner/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/mano/bimanual/unplug/task_info.json b/processed/oakink/mano/bimanual/unplug/task_info.json
index fbe5132ce3242edffbde0bb45a574023b81c03ac..0493740a10e058d741d27ab15c08e5174b78e7bc 100644
--- a/processed/oakink/mano/bimanual/unplug/task_info.json
+++ b/processed/oakink/mano/bimanual/unplug/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/mano/bimanual/wipe_board/task_info.json b/processed/oakink/mano/bimanual/wipe_board/task_info.json
index 8010138fecc00f69a98ded830fec32e0c5908651..1b645674ed9abec547834d25aa90f1d0e3588518 100644
--- a/processed/oakink/mano/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/mano/bimanual/wipe_board/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "mano",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/lift_board/task_info.json b/processed/oakink/schunk/bimanual/lift_board/task_info.json
index 6bc0736cb249c3219214201dba80149695891a94..e9b4290c3f642bfddaa217cd85df50532d4c59ee 100644
--- a/processed/oakink/schunk/bimanual/lift_board/task_info.json
+++ b/processed/oakink/schunk/bimanual/lift_board/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001",
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001/convex"
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
index 815b785c441578bef7a30d2cc795898e6a41a64c..668f6ed25838ba5f7cd5deef7aabfbed55fb7ffd 100644
--- a/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/schunk/bimanual/pick_spoon_bowl/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/pour_tube/task_info.json b/processed/oakink/schunk/bimanual/pour_tube/task_info.json
index 1e450abb2f48ec5439120d6313824c3657ab0a81..6d0fd38074e08394569f6404adec481eedb6e373 100644
--- a/processed/oakink/schunk/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/schunk/bimanual/pour_tube/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/task_info.json b/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
index f6c0b5371a189e718d331a97ae2cfc397582f2ed..0691fa97c1ed1c08639695be3ac173e49ee6b93a 100644
--- a/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
index 9a4b13e4358000b64b3c5d81f1f795ad5cfeffdc..56b546dbd397c4990fd727cdc64494c8a88a1aea 100644
--- a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/unplug/task_info.json b/processed/oakink/schunk/bimanual/unplug/task_info.json
index 50ac5e2ff5aa60dc0cb2f5416831ed9ea50f3a13..6716c224b9a3e1303744e83f69716848aa99dae9 100644
--- a/processed/oakink/schunk/bimanual/unplug/task_info.json
+++ b/processed/oakink/schunk/bimanual/unplug/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/wipe_board/task_info.json b/processed/oakink/schunk/bimanual/wipe_board/task_info.json
index 9c442da9da4b4abcff1f66bdea8158a1837fe9b6..d8a886a60da69f154bcc8f710fcd74d57fbff3a8 100644
--- a/processed/oakink/schunk/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/schunk/bimanual/wipe_board/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "schunk",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/lift_board/task_info.json b/processed/oakink/xhand/bimanual/lift_board/task_info.json
index c2a7b92fca6e21592014af3a9d68cce7170200a5..87cca2afd118b6d0baabba994c6c8acd221f5534 100644
--- a/processed/oakink/xhand/bimanual/lift_board/task_info.json
+++ b/processed/oakink/xhand/bimanual/lift_board/task_info.json
@@ -4,7 +4,7 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001",
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0018@00001",
   "left_object_mesh_dir": null,
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0018@00001/convex"
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0018@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json b/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json
index 8165b0d52518162c09c94f4cae82464f9e71fa40..7c84d896df8345c7de04345fecaf93f8c79a1e9b 100644
--- a/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json
+++ b/processed/oakink/xhand/bimanual/pick_spoon_bowl/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0030@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0030@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C12001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0030@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C12001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/pour_tube/task_info.json b/processed/oakink/xhand/bimanual/pour_tube/task_info.json
index 9c5080355eff88713a3e378deaec58f7330364b3..9bd8a6777a3bf33ba849f570710b6987f97ec91b 100644
--- a/processed/oakink/xhand/bimanual/pour_tube/task_info.json
+++ b/processed/oakink/xhand/bimanual/pour_tube/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0011@00003/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0202@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0011@00003",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0202@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0011@00003/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0202@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/task_info.json b/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
index 52bb317097998fbb1f5ebf85025e2ae1ad0a76c5..fe72dfe3a3a07ea4c5a3ac848b23c748b42e5b23 100644
--- a/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
+++ b/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0033@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C11001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0033@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/C11001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0033@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/C11001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
index a2aa9f2b4d6290e8d0c14840eba912bc1142b908..9f6d2808ecea543823a01e154248ae839a9e72b2 100644
--- a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00001/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0206@00002/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00001",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0206@00002",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00001/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0206@00002/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/unplug/task_info.json b/processed/oakink/xhand/bimanual/unplug/task_info.json
index 2d6098cf79a5bfd01707a0e40488965069feae4a..d78aac20c345595b9c8391f5575877e08117bd52 100644
--- a/processed/oakink/xhand/bimanual/unplug/task_info.json
+++ b/processed/oakink/xhand/bimanual/unplug/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0047@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0047@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0047@00001/convex"
 }
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/wipe_board/task_info.json b/processed/oakink/xhand/bimanual/wipe_board/task_info.json
index 412c8b58a0773500097bb495800d3f9ba8953b40..176c941ec33332062a412cdb960f164f77868b1f 100644
--- a/processed/oakink/xhand/bimanual/wipe_board/task_info.json
+++ b/processed/oakink/xhand/bimanual/wipe_board/task_info.json
@@ -4,8 +4,8 @@
   "robot_type": "xhand",
   "hand_type": "bimanual",
   "data_id": 0,
-  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002",
-  "left_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001",
-  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0055@00002/convex",
-  "left_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/O02@0054@00001/convex"
+  "right_object_mesh_dir": "processed/oakink/assets/objects/O02@0055@00002",
+  "left_object_mesh_dir": "processed/oakink/assets/objects/O02@0054@00001",
+  "right_object_convex_dir": "processed/oakink/assets/objects/O02@0055@00002/convex",
+  "left_object_convex_dir": "processed/oakink/assets/objects/O02@0054@00001/convex"
 }
\ No newline at end of file