diff --git a/processed/fair_mon/assets/objects/cat/convex/0.obj b/processed/fair_mon/assets/objects/cat/convex/0.obj
index 751c912d9df6eefb50056a27f4980e9aaeecd3ed..a92700551a79a23fdf08db95eb11aa8bb1861d9c 100644
--- a/processed/fair_mon/assets/objects/cat/convex/0.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/0.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v -0.08447173 0.01838906 -0.03492610
-v -0.08252775 -0.00473353 -0.06223671
-v -0.08423062 0.03375385 -0.01313891
-v -0.08388401 0.08776626 0.00886210
-v -0.04600651 0.00347673 -0.05496719
-v -0.06179194 -0.00665649 -0.05212352
-v -0.01132376 0.08901995 -0.04092703
-v -0.01575423 0.06781089 -0.04679253
-v -0.06558948 0.04183215 -0.00215622
-v -0.08355248 0.04316125 -0.00376692
-v -0.08301751 0.07736910 0.00889773
-v -0.06797802 0.08962323 0.01029462
-v -0.08305519 0.05392602 0.00311062
-v -0.08289695 0.06377646 0.00651732
-v -0.03784630 0.01155503 -0.05094044
-v -0.01575423 0.03902312 -0.04509631
-v -0.03208971 0.05186167 -0.00068093
-v -0.01007298 0.08854864 -0.00392371
-v -0.00749608 0.08618265 -0.01619638
-v -0.05822797 0.05466127 0.00507054
-v -0.05247891 0.07677525 0.01035877
-v -0.05829579 0.08591872 0.01057258
-v -0.06011921 0.06750925 0.00900464
-v -0.04675245 0.08623920 0.01052269
-v -0.03324253 0.08670110 0.00897613
-v -0.00940992 0.07849083 -0.00589789
-v -0.01955931 0.07109122 0.00257610
-v -0.03031149 0.06072235 0.00371642
-v -0.04480094 0.06142932 0.00710886
-v -0.02098339 0.08308141 0.00534849
-v -0.03859225 0.06864040 0.00817078
-v -0.03197669 0.07580435 0.00794272
+v 0.06688829 -0.00201537 -0.03128082
+v 0.06124238 -0.00941293 -0.02562265
+v 0.05567050 -0.01760961 -0.02893599
+v 0.04809942 -0.02528877 -0.03786927
+v 0.04363822 -0.02928436 -0.04281379
+v 0.04118549 -0.02837108 -0.05039626
+v 0.04882135 -0.01619403 -0.05077857
+v 0.05135739 -0.00630778 -0.05509865
+v 0.05770673 0.00098323 -0.05026882
+v 0.06499090 0.00492555 -0.04053269
+v 0.06668466 0.00764255 -0.03212190
+v 0.03342929 -0.00908568 0.05004900
+v 0.03179105 -0.02377425 0.04696504
+v 0.03310535 -0.02820365 0.03075515
+v -0.00616617 -0.06997856 0.04226265
+v 0.02954194 -0.03078366 -0.05695923
+v 0.03611341 -0.02338610 -0.05927856
+v -0.02766693 -0.04471878 0.01850853
+v 0.04431388 0.00775671 0.00027240
+v 0.05861378 0.00777194 -0.03241500
+v 0.05322702 0.00775671 -0.00587003
+v 0.01278004 -0.00592725 0.07091032
+v 0.01880544 -0.01066869 0.06930462
+v 0.02948640 -0.01783793 0.05526115
+v 0.01952738 -0.02630099 0.06116144
+v -0.01546805 -0.06650049 0.04296355
+v -0.01757833 -0.05391245 0.01149953
+v 0.01161384 -0.02655975 0.06550702
+v -0.02290956 -0.05319705 0.01850853
+v -0.02226166 -0.05361564 0.04296355
+v -0.02491802 -0.04213877 0.04296355
+v 0.02253545 -0.01716820 0.06314945
 f 1 2 3
 f 1 3 4
-f 1 4 2
-f 2 5 6
-f 2 6 3
-f 2 4 7
-f 2 7 8
-f 2 8 5
-f 3 6 9
-f 3 9 10
-f 3 10 4
-f 4 11 12
-f 4 12 7
-f 4 10 13
-f 4 13 14
-f 4 14 11
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 2
+f 2 13 14
+f 2 14 3
+f 3 14 15
+f 3 15 4
+f 4 15 5
 f 5 15 6
-f 5 8 16
-f 5 16 15
-f 6 15 17
-f 6 17 9
-f 7 12 18
-f 7 18 19
-f 7 19 16
-f 7 16 8
-f 9 17 20
-f 9 20 13
-f 9 13 10
-f 11 21 22
-f 11 22 12
-f 11 14 23
-f 11 23 21
-f 12 22 24
-f 12 24 25
-f 12 25 18
-f 13 20 14
-f 14 20 23
-f 15 16 17
-f 16 19 26
-f 16 26 27
-f 16 27 17
-f 17 28 29
-f 17 29 20
-f 17 27 28
-f 18 25 30
-f 18 30 27
-f 18 27 26
-f 18 26 19
-f 20 29 23
-f 21 23 31
-f 21 31 24
-f 21 24 22
-f 23 29 31
-f 24 31 25
-f 25 31 32
-f 25 32 30
-f 27 30 32
-f 27 32 28
-f 28 32 31
-f 28 31 29
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 6 8 7
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 12 21 22
+f 13 24 25
+f 13 25 15
+f 13 15 14
+f 15 26 27
+f 15 27 16
+f 15 25 28
+f 15 28 26
+f 16 18 17
+f 16 27 18
+f 18 27 29
+f 18 29 26
+f 18 26 30
+f 18 30 31
+f 18 31 22
+f 18 22 19
+f 19 21 20
+f 19 22 21
+f 22 28 23
+f 22 31 30
+f 22 30 28
+f 23 28 25
+f 23 25 32
+f 23 32 24
+f 24 32 25
+f 26 29 27
+f 26 28 30
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/1.obj b/processed/fair_mon/assets/objects/cat/convex/1.obj
index f4f539f8d2ee68a22edb9f9184fcb9d8404eacdd..a7e430f504ea4fcc4ead19bd1d205610afa90431 100644
--- a/processed/fair_mon/assets/objects/cat/convex/1.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/1.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.03987534 0.02322517 0.00347910
-v -0.01465729 0.01080311 -0.02201075
-v 0.00045152 0.02569030 -0.03819657
-v 0.03980489 0.04975861 -0.02341427
-v 0.03987534 0.04243207 -0.01294442
-v 0.03987534 0.02921126 -0.00023345
-v 0.02836759 0.01446179 0.05840904
-v 0.02401500 0.01131725 0.06610579
-v -0.04009958 0.01100050 0.01554490
-v -0.00737687 0.04302426 -0.03819657
-v -0.00230407 0.00953611 0.07433453
-v -0.02291625 0.00953611 0.04244959
-v -0.02909285 0.00953611 0.03700527
-v 0.00651070 0.05643328 -0.02355010
-v 0.00316015 0.05298118 -0.00447799
-v 0.01764269 0.03036808 0.05702815
-v 0.02479002 0.02518993 0.05689233
-v -0.00030000 0.05503316 -0.02915288
-v 0.01556033 0.01220782 0.07547773
-v -0.03874527 0.01119331 0.03031588
-v -0.03944200 0.01420472 0.02196263
-v -0.00500487 0.05139744 -0.02915288
-v 0.00325409 0.01691315 0.07417607
-v -0.01242619 0.01012830 0.06707921
-v 0.00558695 0.01236390 0.07743587
-v -0.00904432 0.05113118 -0.00538349
-v 0.00874180 0.02989066 0.05728848
-v 0.00620540 0.02502926 0.06484941
-v -0.00989762 0.01717022 0.06398918
-v -0.03529294 0.01679379 0.02834641
-v -0.00145078 0.02162765 0.06587942
-v 0.00042021 0.02581883 0.06005026
+v -0.03142321 -0.02777000 0.04297215
+v -0.03102352 -0.02240253 0.04540292
+v 0.00009323 -0.04414383 0.04297215
+v 0.00009323 -0.05337235 0.04297215
+v -0.01814936 -0.06489443 0.04417820
+v -0.01867106 -0.06869441 0.05264296
+v -0.02243234 -0.05947946 0.05514467
+v -0.02554148 -0.04990487 0.05358390
+v -0.02772084 -0.04062885 0.05234425
+v -0.02734218 -0.03374818 0.05501772
+v -0.02771663 -0.02233467 0.05520815
+v -0.01238965 -0.00227622 0.06682059
+v 0.00009323 -0.00227622 0.06739561
+v 0.01155797 -0.00579798 0.06753377
+v 0.01155376 -0.03534960 0.04954382
+v -0.00745035 -0.06986833 0.04409605
+v -0.01287769 -0.06985476 0.04509674
+v -0.01744675 -0.06759513 0.04738936
+v -0.01384536 -0.07159189 0.04958862
+v -0.01742151 -0.06964440 0.05685853
+v -0.02166241 -0.02774964 0.06297094
+v -0.02675317 -0.02802786 0.05652622
+v -0.02221777 -0.02336610 0.06257888
+v -0.00835070 -0.00227622 0.07692080
+v -0.00095016 -0.00227622 0.08111771
+v 0.01155797 -0.00579798 0.07559527
+v 0.01155797 -0.03378211 0.05927064
+v -0.00900703 -0.06922369 0.05177296
+v -0.01321848 -0.07066904 0.05340467
+v 0.00867180 -0.00579798 0.08059123
+v -0.00497228 -0.00227622 0.07972870
+v 0.01138547 -0.02639929 0.06577883
 f 1 2 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
 f 1 6 7
 f 1 7 8
-f 1 8 2
+f 1 8 9
+f 1 9 2
 f 2 9 10
-f 2 10 3
-f 2 8 11
+f 2 10 11
 f 2 11 12
 f 2 12 13
-f 2 13 9
-f 3 10 4
-f 4 14 15
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 3 15 4
 f 4 15 16
-f 4 16 17
-f 4 17 5
-f 4 10 18
-f 4 18 14
-f 5 17 7
-f 5 7 6
-f 7 17 8
-f 8 17 19
-f 8 19 11
-f 9 20 21
-f 9 21 22
-f 9 22 10
-f 9 13 20
-f 10 22 18
+f 4 16 5
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 7 20 21
+f 7 21 10
+f 7 10 8
+f 8 10 9
+f 10 21 22
+f 10 22 11
+f 11 22 23
 f 11 23 24
-f 11 24 13
-f 11 13 12
-f 11 19 25
-f 11 25 23
-f 13 24 20
-f 14 18 26
-f 14 26 15
-f 15 26 27
+f 11 24 12
+f 12 24 31
+f 12 31 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 27 15
+f 14 26 27
 f 15 27 16
-f 16 27 28
-f 16 28 23
-f 16 23 19
+f 16 28 19
 f 16 19 17
-f 18 22 26
-f 19 23 25
-f 20 24 29
-f 20 29 30
-f 20 30 21
-f 21 30 26
-f 21 26 22
-f 23 28 31
-f 23 31 29
-f 23 29 24
-f 26 30 29
-f 26 29 32
+f 16 27 28
+f 17 19 18
+f 19 29 20
+f 19 28 29
+f 20 29 28
+f 20 28 30
+f 20 30 25
+f 20 25 31
+f 20 31 21
+f 21 31 24
+f 21 24 23
+f 21 23 22
+f 25 30 26
+f 26 30 32
 f 26 32 27
 f 27 32 28
-f 28 32 31
-f 29 31 32
+f 28 32 30
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/2.obj b/processed/fair_mon/assets/objects/cat/convex/2.obj
index 637df9ee0af944f179878bfb4d54174f8192c684..e9bdb05ca3b83e8d3af7692e412a2c8ed027f39e 100644
--- a/processed/fair_mon/assets/objects/cat/convex/2.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/2.obj
@@ -1,36 +1,36 @@
 # https://github.com/mikedh/trimesh
-v 0.02796884 -0.03459130 0.01079574
-v 0.03744888 -0.01476768 0.02557968
-v 0.02818308 0.02062055 0.02464185
-v 0.00838391 -0.02872187 -0.07890896
-v 0.02699882 -0.03329970 -0.02201766
-v 0.04141229 -0.02861560 -0.05195435
-v 0.04617909 -0.02712781 -0.04290274
-v 0.05250506 -0.02283610 -0.04197545
-v 0.06437147 -0.01175122 -0.04556869
-v 0.06914423 -0.00329859 -0.04123783
-v 0.03656812 0.00117296 0.02557968
-v 0.06848961 0.00259536 -0.03668569
-v 0.05740278 0.02682514 -0.01727584
-v 0.05592692 0.03432950 -0.01976266
-v 0.04897013 0.04161315 -0.01963621
-v 0.04341779 0.04892132 -0.02406191
-v 0.03521724 0.04597026 -0.07968873
-v 0.02178569 -0.01811930 -0.08182781
-v 0.03061112 -0.00918437 -0.08193319
-v 0.03701445 -0.00103420 -0.08204909
-v 0.06917993 -0.00147564 -0.04863507
-v 0.05786697 0.03684730 -0.03581108
-v 0.06014622 0.03017676 -0.02817149
-v 0.05631969 0.03763208 -0.02669625
-v 0.04317975 0.04879052 -0.05126942
-v 0.04914866 0.04674685 -0.03533690
-v 0.04226924 0.03593174 -0.08135363
-v 0.05200517 0.04319904 -0.04451496
-v 0.04509004 0.01548684 -0.08204909
-v 0.04226329 0.00772906 -0.08203856
-v 0.04514955 0.02775705 -0.08137471
-v 0.05268955 0.03849042 -0.05127996
+v -0.01918593 0.00424522 -0.05687186
+v -0.03374435 0.00923385 -0.05575684
+v -0.02569986 0.01559496 -0.05466341
+v -0.01764086 0.01986815 -0.05373543
+v 0.00322840 0.02287593 -0.05257005
+v 0.00327192 0.01459723 -0.05323906
+v -0.00295186 0.00434743 -0.04370026
+v -0.01736522 0.00406514 0.00251904
+v -0.03797334 0.00406514 0.00044007
+v -0.05427269 0.00479519 -0.05327503
+v -0.04099093 0.00493633 -0.05602301
+v -0.01724915 0.02706637 -0.05084357
+v -0.01362224 0.02742653 -0.05100183
+v -0.00610002 0.03747192 -0.04718919
+v 0.00102324 0.03763740 -0.04690864
+v 0.00942317 0.03558355 -0.04436927
+v 0.01212159 0.03763740 -0.02957190
+v 0.01398583 0.03612865 -0.00301289
+v 0.00008749 0.02366437 0.01410804
+v -0.02248642 0.00406514 0.01661143
+v -0.04144067 0.00406514 0.00839627
+v -0.06011927 0.00671277 -0.04896602
+v -0.04572043 0.03763740 -0.03513980
+v -0.01518907 0.03446415 -0.04749132
+v -0.04390697 0.00406514 0.01661143
+v -0.00076120 0.05378110 0.00181406
+v 0.00008749 0.04361402 0.00967674
+v 0.00008749 0.03765200 0.01410804
+v -0.01556627 0.01994115 0.01661143
+v -0.05389549 0.03763740 -0.02540677
+v -0.03656609 0.01826205 0.01661143
+v -0.02844181 0.02703717 0.01623736
 f 1 2 3
 f 1 3 4
 f 1 4 5
@@ -39,56 +39,56 @@ f 1 6 7
 f 1 7 8
 f 1 8 9
 f 1 9 10
-f 1 10 2
-f 2 11 3
-f 2 10 12
-f 2 12 13
-f 2 13 11
-f 3 11 14
-f 3 14 15
-f 3 15 16
-f 3 16 17
-f 3 17 4
-f 4 17 18
-f 4 18 6
-f 4 6 5
-f 6 18 19
-f 6 19 9
-f 6 9 8
-f 6 8 7
-f 9 19 20
-f 9 20 21
+f 1 10 11
+f 1 11 2
+f 2 11 10
+f 2 10 3
+f 3 10 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 20 25
+f 8 25 21
+f 8 21 9
+f 8 19 20
 f 9 21 10
-f 10 21 12
-f 11 13 14
-f 12 21 22
-f 12 22 23
-f 12 23 13
-f 13 23 14
-f 14 23 24
-f 14 24 15
-f 15 24 16
-f 16 25 17
-f 16 24 26
-f 16 26 25
-f 17 27 18
-f 17 25 28
-f 17 28 27
-f 18 27 29
-f 18 29 20
-f 18 20 19
-f 20 29 30
-f 20 30 21
-f 21 30 29
-f 21 29 31
-f 21 31 27
-f 21 27 32
-f 21 32 22
-f 22 26 24
-f 22 24 23
-f 22 32 28
-f 22 28 26
-f 25 26 28
-f 27 28 32
-f 27 31 29
+f 10 22 23
+f 10 23 24
+f 10 24 12
+f 10 21 25
+f 10 25 22
+f 12 24 14
+f 12 14 13
+f 14 24 23
+f 14 23 26
+f 14 26 15
+f 15 26 16
+f 16 26 17
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 29 20
+f 19 28 29
+f 20 29 31
+f 20 31 25
+f 22 25 30
+f 22 30 23
+f 23 30 26
+f 25 31 30
+f 26 30 32
+f 26 32 27
+f 27 32 28
+f 28 32 29
+f 29 32 31
+f 30 31 32
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/3.obj b/processed/fair_mon/assets/objects/cat/convex/3.obj
index 10c1c37b7e863093aef90164da2b1481c598cf60..5996d32b33a29ce7548c3519169c74d1f40b0f1c 100644
--- a/processed/fair_mon/assets/objects/cat/convex/3.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/3.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v -0.04962431 -0.01713113 -0.08208075
-v -0.07921594 -0.01064830 -0.08203312
-v -0.07512870 -0.01054531 -0.08137822
-v 0.00876667 -0.02947311 -0.08181879
-v 0.00540885 -0.03253429 -0.08203312
-v -0.08295105 -0.01007612 -0.08031848
-v -0.01021071 -0.03684854 -0.08125915
-v -0.05206407 -0.00666591 -0.05014568
-v -0.07793317 -0.00666591 -0.06622038
-v 0.03933925 -0.02934151 -0.05394407
-v 0.00172404 -0.03591589 -0.08089003
-v -0.00362081 -0.03739784 -0.08116389
-v -0.08444761 -0.00905191 -0.07391242
-v -0.08278757 -0.00688906 -0.06755398
-v -0.01657423 -0.03855365 -0.07016165
-v -0.00582164 -0.06512009 0.03951544
-v -0.00514253 -0.04035030 -0.07149526
-v -0.03219378 -0.00666591 -0.02309255
-v 0.03867271 -0.01763465 0.01081912
-v -0.08195753 -0.00666591 -0.06366033
-v 0.04403015 -0.02878649 -0.04067946
-v 0.03530232 -0.03169890 -0.05289624
-v -0.00038875 -0.04018437 -0.07160242
-v 0.00057961 -0.06192159 0.03928920
-v 0.00519505 -0.05512406 0.03956307
-v 0.00573583 -0.05037494 0.03956307
-v 0.03433395 -0.01804662 0.03682441
-v 0.03710070 -0.01814389 0.02883469
-v 0.03503822 -0.02547355 0.02565547
-v 0.02490185 -0.03511483 0.03728880
-v 0.03317694 -0.02246387 0.03705065
-v 0.03458548 -0.02325921 0.03176386
+v -0.02771492 -0.02231791 0.05519200
+v -0.02665318 -0.00462319 0.05725940
+v -0.04400677 0.00593155 0.02941672
+v -0.04627090 0.00385694 0.02536596
+v -0.04810610 0.00138105 0.01997055
+v -0.03096345 -0.02225734 0.04524999
+v -0.01239342 -0.02231791 0.06155389
+v -0.02235697 -0.02231791 0.06237748
+v -0.00221189 0.00964918 0.08629546
+v -0.04302237 0.01381354 0.02991256
+v -0.04165124 0.01734188 0.02738294
+v -0.03618781 0.01963606 0.01686945
+v 0.00035458 0.05503307 0.00043949
+v 0.00113507 0.02745747 0.00043949
+v -0.02369997 0.00126747 0.01662573
+v 0.02372709 0.01697844 0.02306324
+v -0.01320906 -0.02231791 0.06859649
+v 0.01874883 -0.00576650 0.06125974
+v 0.00427813 0.02969865 0.05441042
+v -0.00060169 0.02515572 0.05962095
+v 0.01093690 0.00154005 0.08582484
+v 0.01743395 0.02678360 0.05783088
+v 0.01874883 0.03885266 0.00043949
+v 0.02372709 0.02943365 0.03917385
+v 0.00569144 0.02957751 0.00043949
+v 0.02372709 0.02475443 0.01388600
+v 0.02372709 0.01708445 0.04134210
+v 0.01753239 -0.00576650 0.07092442
+v 0.00901732 -0.00509263 0.08129504
+v 0.01874883 0.00515168 0.06863011
+v 0.02372709 0.03092524 0.02210518
+v 0.02372709 0.03088738 0.01388600
 f 1 2 3
 f 1 3 4
 f 1 4 5
-f 1 5 2
-f 2 6 3
-f 2 5 7
-f 2 7 6
-f 3 8 4
-f 3 6 9
-f 3 9 8
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 4
 f 4 10 5
-f 4 8 10
-f 5 11 12
-f 5 12 7
 f 5 10 11
-f 6 13 14
-f 6 14 9
-f 6 7 15
+f 5 11 12
+f 5 12 13
+f 5 13 14
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+f 5 15 6
 f 6 15 16
-f 6 16 13
-f 7 12 17
-f 7 17 15
-f 8 9 20
-f 8 20 18
-f 8 18 19
-f 8 19 10
-f 9 14 20
-f 10 19 21
-f 10 21 22
-f 10 22 11
-f 11 22 23
-f 11 23 12
-f 12 23 17
-f 13 20 14
-f 13 16 20
-f 15 17 16
-f 16 17 23
-f 16 23 22
-f 16 22 24
-f 16 24 25
-f 16 25 26
-f 16 26 20
-f 18 20 26
-f 18 26 27
-f 18 27 19
-f 19 27 28
-f 19 28 21
-f 21 28 29
-f 21 29 30
-f 21 30 24
-f 21 24 22
-f 24 30 25
-f 25 30 31
-f 25 31 26
-f 26 31 27
-f 27 31 28
-f 28 31 32
-f 28 32 29
-f 29 32 30
-f 30 32 31
+f 6 16 7
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+f 23 24 31
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+f 23 32 26
+f 23 26 25
+f 24 30 27
+f 27 30 28
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/4.obj b/processed/fair_mon/assets/objects/cat/convex/4.obj
index 0fb0831480da69bc766c469f0f420db9efa35caa..50bdde13f673404ffe71a63293d5b76d43f67207 100644
--- a/processed/fair_mon/assets/objects/cat/convex/4.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/4.obj
@@ -1,36 +1,36 @@
 # https://github.com/mikedh/trimesh
-v 0.00770387 0.01077115 0.07827457
-v 0.01437406 0.00794085 0.07622740
-v 0.02665397 0.02263019 0.05477085
-v 0.02861609 0.02051408 0.02564645
-v -0.01443276 -0.01628863 0.07014779
-v -0.00606173 -0.01776991 0.07263327
-v 0.00284723 -0.01699400 0.07215371
-v 0.00725816 -0.01328199 0.07208151
-v 0.01207894 -0.01729379 0.06854409
-v 0.01899504 -0.01961269 0.06370206
-v 0.01951246 0.00585118 0.07198869
-v 0.02377995 0.00775569 0.06634223
-v 0.03014788 0.01548831 0.05488945
-v 0.03073703 0.01950011 0.04811886
-v 0.03099318 0.01938548 0.04155452
-v 0.03560904 0.00474904 0.02559488
-v -0.00530352 -0.06606135 0.04210112
-v -0.01487334 -0.03646224 0.06155692
-v -0.01321860 -0.02220493 0.07012716
-v -0.00540085 -0.06744564 0.05261024
-v 0.02421541 -0.01822840 0.05988619
-v 0.02399512 -0.03008745 0.05390970
-v 0.02829334 0.01124727 0.05919005
-v 0.03492767 0.00268584 0.04555088
-v 0.03741234 -0.00263971 0.02832272
-v 0.03746357 -0.01501897 0.02743063
-v -0.00000118 -0.06266675 0.04066759
-v 0.02486603 -0.03504267 0.03758395
-v 0.02649516 -0.02306019 0.05324450
-v 0.03603425 -0.01366113 0.03761489
-v 0.03344199 -0.02157010 0.03758395
-v 0.03729452 -0.00472937 0.03625355
+v 0.02752272 -0.03406978 -0.03395771
+v 0.00273366 -0.05352943 0.01033922
+v 0.02698256 -0.03392490 -0.05052405
+v 0.02752272 -0.03095932 -0.05750171
+v 0.02752272 -0.02971875 -0.04649501
+v -0.02995344 -0.01177585 0.04283040
+v -0.00625931 -0.04213345 0.04296545
+v -0.01810637 -0.05638183 0.01849859
+v 0.00263147 -0.03922673 -0.06524468
+v 0.01549317 -0.03754699 -0.06308385
+v 0.02048601 -0.03711686 -0.05513831
+v 0.00831777 -0.03584008 -0.07141203
+v 0.01900422 -0.02396869 -0.06868849
+v -0.02070499 -0.01012780 0.00375546
+v -0.03112136 -0.02873173 0.04290918
+v -0.02655918 -0.01012780 0.01660787
+v -0.04066179 -0.01012780 0.01660787
+v -0.04704884 -0.01171699 0.02040057
+v -0.03288784 -0.01864423 0.04283040
+v -0.02491680 -0.04213345 0.04296545
+v -0.02390217 -0.05218021 0.01428948
+v -0.02853004 -0.03056541 -0.06429931
+v -0.02145684 -0.03331820 -0.06884605
+v -0.01160983 -0.03951196 -0.06501959
+v -0.00254387 -0.03209574 -0.07200851
+v 0.01173393 -0.02627324 -0.07034287
+v -0.02586573 -0.02527264 -0.06922870
+v -0.03531127 -0.01484556 -0.02375006
+v -0.03801938 -0.01012780 0.00235992
+v -0.04067639 -0.02362912 -0.05168324
+v -0.03603392 -0.02616005 -0.05705154
+v -0.00973386 -0.02886304 -0.07165962
 f 1 2 3
 f 1 3 4
 f 1 4 5
@@ -42,53 +42,53 @@ f 2 8 9
 f 2 9 10
 f 2 10 11
 f 2 11 3
-f 3 11 12
-f 3 12 13
-f 3 13 14
-f 3 14 15
-f 3 15 4
-f 4 15 16
-f 4 16 17
-f 4 17 18
-f 4 18 5
-f 5 18 19
-f 5 19 6
-f 6 19 20
-f 6 20 7
-f 7 20 9
-f 7 9 8
-f 9 20 10
-f 10 21 11
-f 10 20 22
-f 10 22 21
-f 11 21 12
-f 12 23 13
-f 12 21 23
-f 13 23 24
-f 13 24 14
-f 14 24 25
-f 14 25 16
-f 14 16 15
-f 16 25 26
-f 16 26 17
-f 17 27 20
-f 17 20 18
-f 17 26 27
-f 18 20 19
-f 20 27 28
-f 20 28 22
-f 21 22 29
-f 21 29 30
-f 21 30 24
-f 21 24 23
-f 22 28 31
-f 22 31 30
-f 22 30 29
-f 24 30 32
-f 24 32 25
+f 3 11 4
+f 4 11 10
+f 4 10 12
+f 4 12 13
+f 4 13 5
+f 5 14 6
+f 5 13 14
+f 6 15 7
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+f 17 29 18
+f 18 21 20
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+f 18 30 21
+f 21 30 31
+f 21 31 22
+f 22 31 27
+f 22 27 23
+f 23 27 32
+f 23 32 25
 f 25 32 26
-f 26 32 30
-f 26 30 31
-f 26 31 28
-f 26 28 27
+f 26 32 27
+f 27 30 28
+f 27 31 30
+f 28 30 29
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/5.obj b/processed/fair_mon/assets/objects/cat/convex/5.obj
index e59502ed0ed05ee2f68fa9d7499de93f72e8615f..eb9c59df073dc0b289f930675717da919ef985ba 100644
--- a/processed/fair_mon/assets/objects/cat/convex/5.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/5.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v -0.00968281 -0.06919400 0.05488051
-v 0.00440479 -0.01364094 0.07264464
-v -0.01009271 -0.06254643 0.05877788
-v -0.02556081 -0.03161053 0.05573333
-v -0.03069171 -0.03121904 0.04544839
-v -0.02889660 -0.04257238 0.02817036
-v -0.02519330 -0.04922779 0.01716053
-v -0.01694805 -0.05318971 0.00930610
-v -0.00638000 -0.06686853 0.04219063
-v 0.00587009 0.00012401 0.07374477
-v 0.00537066 0.00911272 0.07766772
-v -0.00480633 -0.01566105 0.07331837
-v -0.00838713 -0.05708117 0.01236771
-v -0.01993519 -0.02003013 0.06646173
-v -0.01445092 -0.01236467 0.07102430
-v -0.02825111 -0.01433780 0.05668848
-v -0.03993581 0.00936328 0.02861383
-v -0.04226333 0.00748410 0.02083616
-v -0.02874112 -0.04189118 0.01594953
-v -0.02046760 -0.02707703 -0.00945582
-v -0.01803643 0.01079615 -0.00565226
-v -0.00251651 0.00951204 0.07420530
-v -0.02168789 -0.00833227 0.06537867
-v -0.01677372 -0.00167687 0.06807355
-v -0.02408137 -0.00296880 0.06065407
-v -0.03442799 0.01079615 0.00789896
-v -0.01293850 0.00901093 0.06714399
-v -0.03993581 0.00745278 0.01379191
-v -0.03671310 -0.00268692 0.00853004
-v -0.02633350 -0.02241041 -0.00305971
-v -0.02538177 -0.01317898 -0.00898677
-v -0.02584821 -0.00366566 -0.00852625
-f 1 2 3
+v 0.04154849 -0.00578448 0.00045867
+v 0.03642362 -0.00578448 0.04181165
+v 0.01877337 -0.00578448 0.06124148
+v 0.01876396 0.03273088 0.00433341
+v 0.02597640 0.05482440 -0.02867485
+v 0.06328923 0.00777777 -0.04269128
+v 0.06679201 0.00972371 -0.03275174
+v 0.03326876 -0.00570735 0.05072916
+v 0.01877337 -0.00578448 0.06810369
+v 0.01876396 0.00682260 0.05731059
+v 0.01876396 0.02682186 0.01362154
+v 0.01876396 0.03885940 0.00044744
+v 0.03869455 0.05175718 -0.02969688
+v 0.03758964 0.05217247 -0.03134785
+v 0.04065516 0.04977564 -0.03762605
+v 0.04897250 0.04154693 -0.04465673
+v 0.05055228 0.03840851 -0.04626278
+v 0.02059763 0.02446657 0.05627733
+v 0.06238650 0.01727609 -0.04483642
+v 0.06009206 0.02784823 -0.04663340
+v 0.05847938 0.03376317 -0.03588522
+v 0.06125339 0.02606247 -0.03141524
+v 0.05618964 0.03331228 -0.02293574
+v 0.02907013 0.00743367 0.05452527
+v 0.03006219 -0.00433689 0.05725443
+v 0.01880628 0.00595048 0.06802508
+v 0.04956021 0.04463195 -0.02913532
+v 0.04965425 0.04470315 -0.03860316
+v 0.05764247 0.03345467 -0.04420748
+v 0.02570370 0.01975597 0.05195335
+v 0.05381057 0.03988576 -0.02855130
+v 0.05429485 0.03907891 -0.04007443
+f 1 2 9
+f 1 9 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
 f 1 6 7
-f 1 7 8
-f 1 8 9
-f 1 9 2
-f 2 10 11
-f 2 11 12
-f 2 12 3
-f 2 9 13
-f 2 13 10
-f 3 14 4
-f 3 12 15
-f 3 15 14
-f 4 16 5
-f 4 14 16
+f 1 7 2
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+f 3 9 10
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+f 5 15 16
 f 5 16 17
-f 5 17 18
-f 5 18 6
-f 6 18 19
+f 5 17 6
+f 5 12 18
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 f 6 19 7
 f 7 19 20
-f 7 20 8
-f 8 20 13
-f 8 13 9
-f 10 13 21
-f 10 21 11
-f 11 22 15
-f 11 15 12
-f 11 21 22
-f 13 20 21
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-f 15 22 24
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-f 16 23 25
-f 16 25 17
-f 17 26 18
-f 17 25 27
-f 17 27 22
-f 17 22 26
-f 18 26 28
-f 18 28 29
-f 18 29 19
-f 19 29 30
-f 19 30 20
-f 20 31 32
-f 20 32 21
-f 20 30 31
-f 21 32 26
-f 21 26 22
-f 22 27 24
-f 23 24 25
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-f 26 32 28
+f 7 20 21
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+f 20 29 21
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+f 21 31 23
+f 21 23 22
+f 23 30 24
+f 24 26 25
+f 27 31 28
 f 28 32 29
-f 29 32 31
-f 29 31 30
+f 28 31 32
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/6.obj b/processed/fair_mon/assets/objects/cat/convex/6.obj
index d5036ec822aa33e0ef75ac2c00d7021b8b514a63..5169ef1a2d1ff7fafc40cde3a8a04ea550d9d8fb 100644
--- a/processed/fair_mon/assets/objects/cat/convex/6.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/6.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.04685292 0.04880016 -0.03668410
-v 0.04567652 0.04961573 -0.03173553
-v 0.04448175 0.04936137 -0.02621140
-v 0.04094031 0.04961573 -0.02388413
-v 0.03133922 0.04880823 -0.07821205
-v 0.04092193 0.04880016 -0.05399471
-v 0.04620958 0.04880016 -0.04013746
-v -0.00015385 0.09004718 -0.07878761
-v 0.04375876 0.05079872 -0.02891403
-v -0.00012934 0.08986953 -0.07578468
-v -0.01207097 0.08946578 -0.04502973
-v 0.00460687 0.05505020 -0.01814730
-v 0.01951400 0.05175157 -0.02357758
-v 0.03255850 0.04888091 -0.08140891
-v 0.04317056 0.04880016 -0.05127331
-v -0.00563757 0.05505020 -0.03557677
-v -0.00563757 0.05505020 -0.03893629
-v -0.01030025 0.08996239 -0.05315640
-v -0.00156307 0.09002699 -0.07149926
-v -0.00034992 0.08806073 -0.08184059
-v -0.01195456 0.08936888 -0.04776364
-v -0.01574108 0.07369130 -0.04511732
-v 0.00114509 0.05505020 -0.01961122
-v 0.01504737 0.06293542 -0.08204078
-v -0.01574108 0.06740088 -0.04564283
-v 0.00130439 0.08033297 -0.08204078
-v -0.00042344 0.08401113 -0.08092094
-v -0.01574108 0.07025539 -0.04654996
-v 0.01254754 0.06531350 -0.08205330
-v 0.00291580 0.07665078 -0.08204704
-v 0.00692290 0.07095388 -0.08205955
-v 0.00949626 0.06787327 -0.08150275
+v -0.00778875 0.03861098 -0.04676509
+v 0.00018535 0.05268162 -0.04148368
+v -0.00027767 0.04321092 -0.04500924
+v 0.00923980 0.03764668 -0.04389566
+v -0.01793091 0.03764668 -0.04528186
+v -0.03184332 0.06190202 -0.03468208
+v -0.02435428 0.06913225 -0.03239486
+v 0.00667486 0.05837307 -0.03908557
+v 0.00643968 0.04932092 -0.04267119
+v 0.02210859 0.05500416 -0.02830096
+v 0.02230702 0.04550063 -0.02168419
+v 0.02230702 0.03772054 -0.00011961
+v 0.01398751 0.03478249 -0.00270718
+v -0.01988585 0.03764668 0.00042563
+v -0.04286741 0.04181576 -0.03645180
+v -0.03789187 0.04962047 -0.03734358
+v -0.04420500 0.05839359 -0.03316651
+v -0.02472175 0.07669897 -0.02320438
+v -0.01322730 0.07179127 -0.02970102
+v -0.00009393 0.06527093 -0.03515339
+v 0.02230702 0.05021547 -0.01486411
+v -0.01596127 0.07437643 -0.01579286
+v -0.00548104 0.06897632 -0.01160655
+v 0.01583956 0.04230406 0.00043949
+v -0.00331297 0.06207847 -0.00504522
+v -0.05277439 0.04791344 -0.01295578
+v -0.05183367 0.04582890 -0.02823628
+v -0.01579224 0.04457326 0.00042563
+v -0.05098114 0.05536526 -0.02381893
+v -0.04304379 0.06536941 -0.02229874
+v -0.03712018 0.06953849 -0.02053365
+v -0.00121839 0.05517650 0.00032859
 f 1 2 3
 f 1 3 4
 f 1 4 5
 f 1 5 6
-f 1 6 15
-f 1 15 7
-f 1 7 8
-f 1 8 2
+f 1 6 7
+f 1 7 2
+f 2 8 9
 f 2 9 3
-f 2 8 10
-f 2 10 9
-f 3 9 11
-f 3 11 4
+f 2 7 8
+f 3 9 4
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 f 4 11 12
 f 4 12 13
 f 4 13 5
+f 4 9 10
 f 5 14 15
-f 5 15 6
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-f 5 16 17
-f 5 17 14
-f 7 15 8
-f 8 18 19
-f 8 19 10
-f 8 15 14
-f 8 14 20
-f 8 20 18
-f 9 10 19
-f 9 19 11
-f 11 21 22
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-f 14 24 20
-f 14 17 24
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+f 5 15 16
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+f 19 22 20
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+f 22 32 25
 f 22 25 23
-f 24 29 26
-f 24 25 29
-f 25 28 27
-f 25 27 26
-f 25 26 30
-f 25 30 31
-f 25 31 32
-f 25 32 29
-f 26 29 31
+f 24 25 32
+f 24 32 28
 f 26 31 30
-f 29 32 31
+f 26 30 29
+f 26 29 27
+f 26 28 32
 
diff --git a/processed/fair_mon/assets/objects/cat/convex/7.obj b/processed/fair_mon/assets/objects/cat/convex/7.obj
index 12a4b8111060a8cfd96c33880cd6512cdb6b338c..d23de557e6a72fecd97a090197debe8f4723adf5 100644
--- a/processed/fair_mon/assets/objects/cat/convex/7.obj
+++ b/processed/fair_mon/assets/objects/cat/convex/7.obj
@@ -1,36 +1,36 @@
 # https://github.com/mikedh/trimesh
-v -0.05855513 0.00186284 -0.04976867
-v -0.05708929 -0.00095511 -0.05286158
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diff --git a/processed/fair_mon/assets/objects/cat/visual.obj b/processed/fair_mon/assets/objects/cat/visual.obj
index c5574318e7cc8301a544d0af02d76062a3e7d300..70cb71cb4c8c4006f10f854588189b48f0578c18 100644
--- a/processed/fair_mon/assets/objects/cat/visual.obj
+++ b/processed/fair_mon/assets/objects/cat/visual.obj
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diff --git a/processed/fair_mon/inspire/right/coke/0/trajectory_ikrollout.npz b/processed/fair_mon/inspire/right/coke/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56b9db61788c68cd0fd491b8c4af40b1af541e22
--- /dev/null
+++ b/processed/fair_mon/inspire/right/coke/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/fair_mon/inspire/right/coke/0/trajectory_kinematic.npz b/processed/fair_mon/inspire/right/coke/0/trajectory_kinematic.npz
index 3fd766312ffbd4f7e0e6346bdfb60fea7e9abaf5..f8dffe57cfb160999848a003b24b3cbae4ec8e9b 100644
--- a/processed/fair_mon/inspire/right/coke/0/trajectory_kinematic.npz
+++ b/processed/fair_mon/inspire/right/coke/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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diff --git a/processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz b/processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz
index d35af2c4a7e71b3fcfd0b436b57778c1a10a0315..b8e4d8d4e8e04256295763d31926bd97dfc2cad2 100644
--- a/processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz
+++ b/processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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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
index 9d384a58a1982cd563de55af807f924344a291b2..a522f010ca23ff3cd8671a4d5f0fbaf8653172ca 100644
--- a/processed/fair_mon/mano/right/cat/task_info.json
+++ b/processed/fair_mon/mano/right/cat/task_info.json
@@ -5,5 +5,6 @@
   "hand_type": "right",
   "data_id": 0,
   "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
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+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+    </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="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"/>
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+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_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_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7853ab09da3e84d47e39fbcfee5fba0160d5890a
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml
@@ -0,0 +1,876 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+    </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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_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"/>
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+    <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"/>
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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_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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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"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/ability/bimanual/p36-tea/task_info.json b/processed/gigahand/ability/bimanual/p36-tea/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..94576f4eaad57a112d12f7c1fb125afc34c6d172
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p36-tea/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "p36-tea",
+  "dataset_name": "gigahand",
+  "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",
+  "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
diff --git a/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_ikrollout.npz b/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6831d98dea222827da35fedb6ee4d2410392b772
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76bf3297ad8fcb71eb410ec1cc402dba91a37546f5cb928e5e29d3a2d7e43579
+size 120966
diff --git a/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_kinematic.npz b/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c3b8f0e23bfec9203b2bf41e0b6cfa81387b952
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93bb5ab29f8e77e6b96d2f398d70a8847cc24c635f0ad6c57c85d5a973476e28
+size 569580
diff --git a/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_mjwpeq.npz b/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c710c4e73c00ab04b137a877f9b46d16a0d1748
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bfd689eade3cbedf21ce1ec2e009f709cf0765813b851d6be26399e07f70261
+size 666226
diff --git a/processed/gigahand/ability/bimanual/p44-dog/4/visualization_ik.mp4 b/processed/gigahand/ability/bimanual/p44-dog/4/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a98ccce298b42118abb58f8122152dc3f095c24c
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/4/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e860d8e53ad343c49f853c7cddddb1daad82623c45bac653e2c8a2baa550ce85
+size 567042
diff --git a/processed/gigahand/ability/bimanual/p44-dog/4/visualization_mjwpeq.mp4 b/processed/gigahand/ability/bimanual/p44-dog/4/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1c102388737a8dfbcde1d67bf6c5271de611bd7
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/4/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100785994d3791329295a37173085c6e7de4fc111d5eb88d3e487a8266a1ea3f
+size 787060
diff --git a/processed/gigahand/ability/bimanual/p44-dog/scene.xml b/processed/gigahand/ability/bimanual/p44-dog/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9f367868c9a3dccbb2541fec0cae0f36407df492
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/scene.xml
@@ -0,0 +1,853 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
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+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
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+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
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+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
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+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
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+                    <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">
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+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
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+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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>
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+                    <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0"/>
+                    <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0"/>
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+                </body>
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+                    <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0"/>
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+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
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+                    <geom type="mesh" mesh="right_idx-F2_C"/>
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+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
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+                    <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                    <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="R_forearm_ty_link">
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+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <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">
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+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
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+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
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+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
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+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="L_forearm_tx_position" 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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2aa5cb3f024e505cb7acb68eb4dfdeed22ad5cf1
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml
@@ -0,0 +1,876 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_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_palm_1" name="collision_hand_right_index_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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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"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/ability/bimanual/p44-dog/task_info.json b/processed/gigahand/ability/bimanual/p44-dog/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f1f293e8785fe034c544addb305152f2dcb2e9c
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p44-dog/task_info.json
@@ -0,0 +1,10 @@
+{
+  "task": "p44-dog",
+  "dataset_name": "gigahand",
+  "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",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+}
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_ikrollout.npz b/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f25183e950045c26e1728e53669bb6bd6d1f8292
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37ffa95233e9e70285efda16f81cf3531aa78a322c7cdd79fad15fb164430cd7
+size 48102
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_kinematic.npz b/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..258535066e32f50a3b8289504a1b95d885cb5893
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0689d1e74e8423c80f42d4217ee60043849d784239cabdda614e1c2f5e0dd94c
+size 227436
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_mjwpeq.npz b/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0514d8d3baecc1eaa871cd0cead96f0a05cb14d
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67c4d517d2930f5a5b16f6407ab53a225722d215b959df37e3ef83e88e09a52
+size 263506
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/34/visualization_ik.mp4 b/processed/gigahand/ability/bimanual/p52-instrument/34/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27014ab7acd7aa75fa5ba63404a32f2b96e8db49
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/34/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ca10cc3543f2f9dc9f99d57e3f03fa549962c42d605956563526759536b8dd
+size 211884
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/34/visualization_mjwpeq.mp4 b/processed/gigahand/ability/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a7cb1badfaf5a2232d5cedcfc3cfa9ba19d8f5c
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e1af1a64c2a41d437b9c397155a9a9621db26857e7f2a5451dc897a2dc02230
+size 294906
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/scene.xml b/processed/gigahand/ability/bimanual/p52-instrument/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..98f21e3ddc18bc244eb641200c18b21c13e82b09
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/scene.xml
@@ -0,0 +1,783 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/p52-instrument/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj"/>
+    <mesh name="right_visual" file="objects/p52-instrument/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_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"/>
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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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="L_forearm_tx_position" 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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/ability/bimanual/p52-instrument/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b074f23ac14c9433a63f7eeb1320716dfa6a7fbc
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/scene_eq.xml
@@ -0,0 +1,806 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/p52-instrument/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj"/>
+    <mesh name="right_visual" file="objects/p52-instrument/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_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"/>
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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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_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"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/ability/bimanual/p52-instrument/task_info.json b/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a95300c1a96156aa024dfa8c8587299e1a34dcd6
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/p52-instrument/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "p52-instrument",
+  "dataset_name": "gigahand",
+  "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",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/gigahand/ability/bimanual/summary.csv b/processed/gigahand/ability/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d443031f5a065c5fe206045a201d5d5fc5329573
--- /dev/null
+++ b/processed/gigahand/ability/bimanual/summary.csv
@@ -0,0 +1,4 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
+p44-dog,1,1,1.0,0.04578450576266401,0.0,0.0751088291255147,0.0,gigahand,ability,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,4.0,0.04578450576266401,0.0751088291255147,True
+p52-instrument,1,0,0.0,0.14911797400679308,0.0,0.41723096282674027,0.0,gigahand,ability,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.14911797400679308,0.41723096282674027,False
+p36-tea,1,0,0.0,0.13623398469593997,0.0,0.7485452346147734,0.0,gigahand,ability,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.13623398469593997,0.7485452346147734,False
diff --git a/processed/gigahand/allegro/bimanual/complete_data.csv b/processed/gigahand/allegro/bimanual/complete_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f4b8759451b922b565d8a8a9d0cfbaa03e3dfd5
--- /dev/null
+++ b/processed/gigahand/allegro/bimanual/complete_data.csv
@@ -0,0 +1,4 @@
+dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+gigahand,allegro,bimanual,mjwpeq,p44-dog,4,p44-dog/4,0.0452994682057118,0.10801519692010961,0.0452994682057118,1.5479519411488404e-05,0.10801519692010961,1.6560889560172425e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwpeq,p52-instrument,34,p52-instrument/34,0.03774167362745931,0.08407248560538537,0.03774167362745931,1.9959327985348373e-05,0.08407248560538537,1.3571206957017625e-05,True,0.1,0.5
+gigahand,allegro,bimanual,mjwpeq,p36-tea,10,p36-tea/10,0.11702017406439635,0.5724960064982507,0.11702017406439635,1.962564648700645e-05,0.5724960064982507,1.668040248856064e-05,False,0.1,0.5
diff --git a/processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_ikrollout.npz b/processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_ikrollout.npz
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+++ b/processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_ikrollout.npz
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/34/trajectory_mjwpeq.npz b/processed/gigahand/allegro/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_ik.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_ik.mp4
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diff --git a/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwpeq.mp4 b/processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
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diff --git a/processed/gigahand/allegro/bimanual/summary.csv b/processed/gigahand/allegro/bimanual/summary.csv
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index 0000000000000000000000000000000000000000..eaa38d92d6def18003645f8788a92c5d5b9a084b
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+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
+p44-dog,1,1,1.0,0.0452994682057118,0.0,0.10801519692010961,0.0,gigahand,allegro,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,4.0,0.0452994682057118,0.10801519692010961,True
+p52-instrument,1,1,1.0,0.03774167362745931,0.0,0.08407248560538537,0.0,gigahand,allegro,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.03774167362745931,0.08407248560538537,True
+p36-tea,1,0,0.0,0.11702017406439635,0.0,0.5724960064982507,0.0,gigahand,allegro,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.11702017406439635,0.5724960064982507,False
diff --git a/processed/gigahand/assets/objects/p44-dog/convex/1.obj b/processed/gigahand/assets/objects/p44-dog/convex/1.obj
index 59b0a8e90c84b055fe4be2fa765b90cc8f0488a4..9ac3cad18aa37ff432741bf91712032f279c49e2 100644
--- a/processed/gigahand/assets/objects/p44-dog/convex/1.obj
+++ b/processed/gigahand/assets/objects/p44-dog/convex/1.obj
@@ -1,39 +1,39 @@
 # https://github.com/mikedh/trimesh
-v 0.58802711 0.36967225 0.34414716
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@@ -53,42 +53,42 @@ f 6 14 15
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diff --git a/processed/gigahand/assets/objects/p44-dog/convex/3.obj b/processed/gigahand/assets/objects/p44-dog/convex/3.obj
index bf1ff864e1cc297ed792ac1855bc32da278910f0..85037cdd9405a7715368175db6bdb63fb5235b6a 100644
--- a/processed/gigahand/assets/objects/p44-dog/convex/3.obj
+++ b/processed/gigahand/assets/objects/p44-dog/convex/3.obj
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 # https://github.com/mikedh/trimesh
-v 0.39589195 0.40605666 0.47598226
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diff --git a/processed/gigahand/assets/objects/p44-dog/convex/5.obj b/processed/gigahand/assets/objects/p44-dog/convex/5.obj
index 5d5abdd52ccdde10118443de6ab26084ab9ae6f3..77fafd885bba7d178c6ffa971e5d59dc081f305e 100644
--- a/processed/gigahand/assets/objects/p44-dog/convex/5.obj
+++ b/processed/gigahand/assets/objects/p44-dog/convex/5.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.53202753 0.36592724 0.34410511
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-v 0.46101907 0.33894672 0.34410511
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diff --git a/processed/gigahand/assets/objects/p44-dog/convex/6.obj b/processed/gigahand/assets/objects/p44-dog/convex/6.obj
index 77fafd885bba7d178c6ffa971e5d59dc081f305e..e38b751e6fcbe1a253b153660397311a7fb1958b 100644
--- a/processed/gigahand/assets/objects/p44-dog/convex/6.obj
+++ b/processed/gigahand/assets/objects/p44-dog/convex/6.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.60432246 0.36043336 0.30369382
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 f 1 2 3
 f 1 3 4
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diff --git a/processed/gigahand/assets/objects/p44-dog/convex/7.obj b/processed/gigahand/assets/objects/p44-dog/convex/7.obj
index e055079fbd30a4dbce2423f5cb26574a2601728c..5d5abdd52ccdde10118443de6ab26084ab9ae6f3 100644
--- a/processed/gigahand/assets/objects/p44-dog/convex/7.obj
+++ b/processed/gigahand/assets/objects/p44-dog/convex/7.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.44302499 0.41066220 0.34413724
-v 0.38705052 0.40663687 0.43823744
-v 0.39852319 0.41715685 0.41859936
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-v 0.55139705 0.44501283 0.34413724
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 f 1 2 3
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diff --git a/processed/gigahand/assets/objects/p52-instrument/convex/2.obj b/processed/gigahand/assets/objects/p52-instrument/convex/2.obj
index d20c52b117c6ff4485f4bfd7f28e1f3e48c9d869..23b437f514b03e77164b6b5e3baa9cb90932d901 100644
--- a/processed/gigahand/assets/objects/p52-instrument/convex/2.obj
+++ b/processed/gigahand/assets/objects/p52-instrument/convex/2.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.81821095 0.51673849 0.22404307
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-v 0.82075327 0.49329356 0.23959245
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-v 0.88360294 0.52512092 0.27591663
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diff --git a/processed/gigahand/assets/objects/p52-instrument/convex/3.obj b/processed/gigahand/assets/objects/p52-instrument/convex/3.obj
index 23b437f514b03e77164b6b5e3baa9cb90932d901..d20c52b117c6ff4485f4bfd7f28e1f3e48c9d869 100644
--- a/processed/gigahand/assets/objects/p52-instrument/convex/3.obj
+++ b/processed/gigahand/assets/objects/p52-instrument/convex/3.obj
@@ -1,94 +1,94 @@
 # https://github.com/mikedh/trimesh
-v 0.78415021 0.50167510 0.23125831
-v 0.81912136 0.49655699 0.26600099
-v 0.77671687 0.50225834 0.25557432
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 f 1 2 3
 f 1 3 4
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diff --git a/processed/gigahand/assets/robots/inspire/MUJOCO_LOG.TXT b/processed/gigahand/assets/robots/inspire/MUJOCO_LOG.TXT
new file mode 100644
index 0000000000000000000000000000000000000000..6aba401fa5d0b95df18c66f0adcce1774a97d9f5
--- /dev/null
+++ b/processed/gigahand/assets/robots/inspire/MUJOCO_LOG.TXT
@@ -0,0 +1,3 @@
+Fri Aug 22 09:29:16 2025
+ERROR: could not initialize GLFW
+
diff --git a/processed/gigahand/assets/robots/schunk/left.xml b/processed/gigahand/assets/robots/schunk/left.xml
index 59e258167d4439eb9227728a4633e1b6dc1f9abf..27c51b487d9daa3b099caf81785cca888ae17fdd 100644
--- a/processed/gigahand/assets/robots/schunk/left.xml
+++ b/processed/gigahand/assets/robots/schunk/left.xml
@@ -53,7 +53,7 @@
                 <inertial pos="-6.48554e-05 -0.00451484 0.127324"
                   quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112"
                   diaginertia="0.0865419 0.0593417 0.0588699" />
-                <joint name="left_rot_y" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2" />
 
                 <!-- Palm visuals -->
                 <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder" />
@@ -273,9 +273,9 @@
     <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" />
-    <position name="left_rot_z_position" joint="left_rot_z" kp="1000" />
 
     <!-- Thumb joints -->
     <position name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" />
diff --git a/processed/gigahand/assets/robots/schunk/right.xml b/processed/gigahand/assets/robots/schunk/right.xml
index a400ac839b6676e34ead65a705a3a06b344351d8..73340b6696f0e8ab13dec8eb8adb8469c1148849 100644
--- a/processed/gigahand/assets/robots/schunk/right.xml
+++ b/processed/gigahand/assets/robots/schunk/right.xml
@@ -52,7 +52,7 @@
                 <inertial pos="-6.48554e-05 -0.00451484 0.127324"
                   quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112"
                   diaginertia="0.0865419 0.0593417 0.0588699" />
-                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" />
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2" />
                 <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder" />
                 <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box" />
                 <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box" />
@@ -264,9 +264,9 @@
     <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" />
-    <position name="right_rot_z_position" joint="R_forearm_roll_link_joint" kp="1000" />
 
     <!-- Thumb joints -->
     <position name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" />
diff --git a/processed/gigahand/inspire/bimanual/complete_data.csv b/processed/gigahand/inspire/bimanual/complete_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5c44b670b555b15e7697781f1f9033d62cb84bf
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/complete_data.csv
@@ -0,0 +1,4 @@
+dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+gigahand,inspire,bimanual,mjwpeq,p44-dog,4,p44-dog/4,0.02811341850242562,0.05349078388131248,0.02811341850242562,1.3784534198296621e-05,0.05349078388131248,1.6655830393690827e-05,True,0.1,0.5
+gigahand,inspire,bimanual,mjwpeq,p52-instrument,34,p52-instrument/34,0.03365059884527611,0.08445663411254296,0.03365059884527611,1.1409801788830149e-05,0.08445663411254296,1.1867780954189402e-05,True,0.1,0.5
+gigahand,inspire,bimanual,mjwpeq,p36-tea,10,p36-tea/10,0.13473950287307318,0.7543910014646089,0.13473950287307318,1.5148857862975204e-05,0.7543910014646089,1.6721370051025112e-05,False,0.1,0.5
diff --git a/processed/gigahand/inspire/bimanual/p36-tea/10/trajectory_ikrollout.npz b/processed/gigahand/inspire/bimanual/p36-tea/10/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df89a93fb9afcd9cfbc7cb973350fc2200ef1dc2
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p36-tea/10/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 135862
diff --git a/processed/gigahand/inspire/bimanual/p36-tea/10/trajectory_kinematic.npz b/processed/gigahand/inspire/bimanual/p36-tea/10/trajectory_kinematic.npz
index 736c4d61b0502243afdb95bc376c771368f9a0c1..5ca6e4163121f3ac381362b402472edd63fc8f5c 100644
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+++ b/processed/gigahand/inspire/bimanual/p36-tea/10/trajectory_kinematic.npz
@@ -1,3 +1,3 @@
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+size 621132
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new file mode 100644
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+++ b/processed/gigahand/inspire/bimanual/p36-tea/10/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
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new file mode 100644
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+++ b/processed/gigahand/inspire/bimanual/p36-tea/10/visualization_ik.mp4
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diff --git a/processed/gigahand/inspire/bimanual/p44-dog/4/visualization_mjwpeq.mp4 b/processed/gigahand/inspire/bimanual/p44-dog/4/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dfbdf9abfdee477c018698fb2846d4adacf0c9f
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p44-dog/4/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/inspire/bimanual/p44-dog/scene.xml b/processed/gigahand/inspire/bimanual/p44-dog/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9979a16eebe2bd371a7afaf1dc5e2a45a7397986
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p44-dog/scene.xml
@@ -0,0 +1,736 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <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"/>
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+      <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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="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_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"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_1" geom2="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_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"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="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/gigahand/inspire/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/inspire/bimanual/p44-dog/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c3b0d7c5564f25ae03922eacf60bb35e2c7dba29
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p44-dog/scene_eq.xml
@@ -0,0 +1,759 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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/gigahand/inspire/bimanual/p44-dog/task_info.json b/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f699d78015e46156108c0c9236a3f386cdf168eb
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p44-dog/task_info.json
@@ -0,0 +1,10 @@
+{
+  "task": "p44-dog",
+  "dataset_name": "gigahand",
+  "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",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+}
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_ikrollout.npz b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_ikrollout.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_kinematic.npz b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..40953dc35a045b1c44d240488e0eccc04e946072
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 239916
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwp.npz b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwp.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 288466
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwpeq.npz b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba1801662fc72235227357d22707fad0cb0adf07
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 288466
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_ik.mp4 b/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b47d0fd42bd7936cce6a5d1b57937df38cd762bd
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwp.mp4 b/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2487c3de171587932227796f29282a37bbbc993f
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 322585
diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwpeq.mp4 b/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce02bc19fe89ca59eb40c30e5096fef777e58ee0
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/inspire/bimanual/p52-instrument/scene.xml b/processed/gigahand/inspire/bimanual/p52-instrument/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ab5c677f2fa5b983b2e026d7b0c7ce38b7ae0a20
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/scene.xml
@@ -0,0 +1,686 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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+    <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"/>
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+    <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"/>
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+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
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+    <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"/>
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+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj"/>
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+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj"/>
+    <mesh name="right_visual" file="objects/p52-instrument/visual.obj"/>
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+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
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+      <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"/>
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+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
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+        <joint name="left_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link15_L"/>
+        <geom name="collision_hand_left_index_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="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/gigahand/inspire/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/inspire/bimanual/p52-instrument/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba90c936d16d2754b014d7ec78a26d081b7f7ff3
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/scene_eq.xml
@@ -0,0 +1,709 @@
+<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"/>
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+              <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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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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"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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/gigahand/inspire/bimanual/p52-instrument/task_info.json b/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c1ae54f58c57642608de3db0c256723887c63ec
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/p52-instrument/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "p52-instrument",
+  "dataset_name": "gigahand",
+  "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",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/gigahand/inspire/bimanual/summary.csv b/processed/gigahand/inspire/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..964411ce72d1965eb032360f3ea625a30a1f0087
--- /dev/null
+++ b/processed/gigahand/inspire/bimanual/summary.csv
@@ -0,0 +1,4 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
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+p52-instrument,1,1,1.0,0.03365059884527611,0.0,0.08445663411254296,0.0,gigahand,inspire,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.03365059884527611,0.08445663411254296,True
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diff --git a/processed/gigahand/mano/bimanual/p36-tea/10/trajectory_kinematic.npz b/processed/gigahand/mano/bimanual/p36-tea/10/trajectory_kinematic.npz
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diff --git a/processed/gigahand/mano/bimanual/p44-dog/4/trajectory_kinematic.npz b/processed/gigahand/mano/bimanual/p44-dog/4/trajectory_kinematic.npz
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+++ b/processed/gigahand/mano/bimanual/p44-dog/4/trajectory_kinematic.npz
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diff --git a/processed/gigahand/mano/bimanual/p44-dog/task_info.json b/processed/gigahand/mano/bimanual/p44-dog/task_info.json
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--- a/processed/gigahand/mano/bimanual/p44-dog/task_info.json
+++ b/processed/gigahand/mano/bimanual/p44-dog/task_info.json
@@ -5,5 +5,6 @@
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   "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog",
-  "left_object_mesh_dir": null
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
 }
\ No newline at end of file
diff --git a/processed/gigahand/mano/bimanual/p52-instrument/34/trajectory_kinematic.npz b/processed/gigahand/mano/bimanual/p52-instrument/34/trajectory_kinematic.npz
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diff --git a/processed/gigahand/mano/bimanual/p52-instrument/task_info.json b/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
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+++ b/processed/gigahand/mano/bimanual/p52-instrument/task_info.json
@@ -6,5 +6,6 @@
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 }
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/complete_data.csv b/processed/gigahand/schunk/bimanual/complete_data.csv
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@@ -0,0 +1,4 @@
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--- /dev/null
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+  <default>
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+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+    </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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="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_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_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_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_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"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/schunk/bimanual/p36-tea/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd7537977197cb6d892d0cc8ce34cbc8f182353b
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p36-tea/scene_eq.xml
@@ -0,0 +1,949 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+    </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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="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_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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_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="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="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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_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="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="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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p36-tea/task_info.json b/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15dd385c9c5ec303bd0e87ff9bba151f63e1146b
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p36-tea/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "p36-tea",
+  "dataset_name": "gigahand",
+  "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",
+  "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
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_ikrollout.npz b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..644d882ca4b67de7ca625508d43aa31b2d45004c
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f016d20aa469cc4ef020c45d385f7cfb43aa32869bd4a12ff1451935d45e12cd
+size 173446
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_kinematic.npz b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b2e4270fcd2f27a3183f362f6a61b30bd6196702
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eca301ec8356077dd6a9aa0bab8a4d436f99027d9cb24a2b8252c79769908b6
+size 727020
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwp.npz b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..53146e20cb1a9d4c326c477e2a2cc209ca0f4339
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22909b32cad3db9211e4360c158291bf685d792efc9fb4cd5bac98478a1372f7
+size 983026
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwpeq.npz b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0a5faba82ae7e45c879ceba7ac1749a608dfc6b
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea017d09284452008ebe68646a4e1866e328a1ae2df35fe8b37c8f01da484dea
+size 983026
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_ik.mp4 b/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29fa3bc7d0e6345ac205358043bdc8a3076728e4
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a5bac8c543e770883ebed8db1878f829a823ecc92e65abcac2c99fbf6f9bd0
+size 307588
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwp.mp4 b/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c17b2a6af1b585d059614f0b14c44482669c199
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afccde05b9801cba94bfb396a8afa5e2bb5b7e17f0696f35246dffdb212343b2
+size 418685
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwpeq.mp4 b/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6140857386b4b4a5d04fdfacbbef79b1334c3851
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03d444e8a76e5cff4edddb94d6b7a8037fdab84e18402429f761af4949ef8735
+size 426819
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/scene.xml b/processed/gigahand/schunk/bimanual/p44-dog/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..971d4cbb483405910143dbb716df62e372b4b745
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/scene.xml
@@ -0,0 +1,926 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="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_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_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="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_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_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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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_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_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/schunk/bimanual/p44-dog/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64a3f396782f6e36b6e5e8ee45fa2112238f2e78
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/scene_eq.xml
@@ -0,0 +1,949 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="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_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
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+    <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="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="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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"/>
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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_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="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p44-dog/task_info.json b/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..20b20b8524d51f8584197a3d9e41bb7d8b844f7f
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p44-dog/task_info.json
@@ -0,0 +1,10 @@
+{
+  "task": "p44-dog",
+  "dataset_name": "gigahand",
+  "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",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+}
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_ikrollout.npz b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_ikrollout.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_kinematic.npz b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d1eebc0301adbb29da7f370b17c26ec051d699b
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 289836
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_mjwp.npz b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_mjwp.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_mjwpeq.npz b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1011ebf6d1c652ed0cba7d150b297145cf044b59
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_ik.mp4 b/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e7a9bf8d8184b8656c44d6d7d1861d549ed0473
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_mjwp.mp4 b/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8f001761137044244a5468d1d61d0ff60d3133a
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 149501
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_mjwpeq.mp4 b/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..616a3c0f39e6d6e2c89e12490f5aa6a9cde71004
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/scene.xml b/processed/gigahand/schunk/bimanual/p52-instrument/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ae9d099228163cb4be02b7e26c16f310bbfcfd66
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/scene.xml
@@ -0,0 +1,856 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/p52-instrument/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj"/>
+    <mesh name="right_visual" file="objects/p52-instrument/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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_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="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="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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"/>
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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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_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_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="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="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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/schunk/bimanual/p52-instrument/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0cf5a048c19f1babdfc4d9ebb638a7aea8f7cf82
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/scene_eq.xml
@@ -0,0 +1,879 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/p52-instrument/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj"/>
+    <mesh name="right_visual" file="objects/p52-instrument/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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_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="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="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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_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="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="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_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json b/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1912f6e9ea84d4ae166440452b7c5ee1ecd5b5
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/p52-instrument/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "p52-instrument",
+  "dataset_name": "gigahand",
+  "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",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/gigahand/schunk/bimanual/summary.csv b/processed/gigahand/schunk/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..def599675b8bdfb3e8e981d7593850a57ddfbad2
--- /dev/null
+++ b/processed/gigahand/schunk/bimanual/summary.csv
@@ -0,0 +1,4 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
+p44-dog,1,1,1.0,0.059065151195291606,0.0,0.13707867336221885,0.0,gigahand,schunk,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,4.0,0.059065151195291606,0.13707867336221885,True
+p52-instrument,1,1,1.0,0.06736726243301921,0.0,0.17563847254280526,0.0,gigahand,schunk,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.06736726243301921,0.17563847254280526,True
+p36-tea,1,0,0.0,0.1358287148787073,0.0,0.7451442057382436,0.0,gigahand,schunk,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.1358287148787073,0.7451442057382436,False
diff --git a/processed/gigahand/xhand/bimanual/complete_data.csv b/processed/gigahand/xhand/bimanual/complete_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15845939643e30b443f87e52369b35655da709cf
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/complete_data.csv
@@ -0,0 +1,4 @@
+dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+gigahand,xhand,bimanual,mjwpeq,p44-dog,4,p44-dog/4,0.03807266459060254,0.06594192788614571,0.03807266459060254,1.867482244990119e-05,0.06594192788614571,1.886652912102857e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwpeq,p52-instrument,34,p52-instrument/34,0.048070979713597785,0.16349417192646706,0.048070979713597785,1.3699318009498187e-05,0.16349417192646706,1.4766772438156438e-05,True,0.1,0.5
+gigahand,xhand,bimanual,mjwpeq,p36-tea,10,p36-tea/10,0.13654073147312762,0.7312109092762482,0.13654073147312762,1.6794765206478214e-05,0.7312109092762482,1.551993723691806e-05,False,0.1,0.5
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_ikrollout.npz b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8abfbfad300fe816bb6a344a14db8b926b7e653a
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 135862
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_kinematic.npz b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c01b11a0819bcf416f33c7415fa206a7ace4fef
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 621132
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwp.npz b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwp.npz
new file mode 100644
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--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 751642
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwpeq.npz b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..34e6ac4ef51b3b5c28dabf0fa6e0a10751e1c10d
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 751642
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_ik.mp4 b/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9817bcf7461b3deeb3d100414d1f1abf88599739
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwp.mp4 b/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8119b57342d50e4e1f923663df0cb3af40724418
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 449703
diff --git a/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwpeq.mp4 b/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f030d22ea99e26c15dd942a6dcdcf7a2de59f752
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/gigahand/xhand/bimanual/p36-tea/scene.xml b/processed/gigahand/xhand/bimanual/p36-tea/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d1b56d31ec4e7c763017c640a3fa29cb085d73f6
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/scene.xml
@@ -0,0 +1,758 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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/p36-tea/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+    </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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <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"/>
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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"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="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/gigahand/xhand/bimanual/p36-tea/scene_eq.xml b/processed/gigahand/xhand/bimanual/p36-tea/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ec755c00041977fc1cb61bc76432f20043d1cce5
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/scene_eq.xml
@@ -0,0 +1,781 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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/p36-tea/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0018825 0.0818593 -0.0269382" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0291577 0.0792714 0.0057566" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
+    </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"/>
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+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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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"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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"/>
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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_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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/gigahand/xhand/bimanual/p36-tea/task_info.json b/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a45b23ded174811b195bac94daa91f0994811f
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p36-tea/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "p36-tea",
+  "dataset_name": "gigahand",
+  "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",
+  "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
diff --git a/processed/gigahand/xhand/bimanual/p44-dog/4/trajectory_ikrollout.npz b/processed/gigahand/xhand/bimanual/p44-dog/4/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a02bee23ff7baf0729e3ab5f20126bbaa61a0f4
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p44-dog/4/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56eaed22805e57a08ff4234b9d59ec725e026c2e259a12eadaec6bbcd94c4062
+size 131462
diff --git a/processed/gigahand/xhand/bimanual/p44-dog/4/trajectory_kinematic.npz b/processed/gigahand/xhand/bimanual/p44-dog/4/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..022ff9f38923d0286631fc189c2ff0fa358edf91
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p44-dog/4/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8686cc0dd44b449567e002c9bca7a21cc083374b760fd6579cc7126f602c3ade
+size 601068
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
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+  <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"/>
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+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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+    <material name="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"/>
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+    <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"/>
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+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
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+    <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/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
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+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
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+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
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+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <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">
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+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 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"/>
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+                    <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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="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"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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"/>
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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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
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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="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="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/gigahand/xhand/bimanual/p44-dog/scene_eq.xml b/processed/gigahand/xhand/bimanual/p44-dog/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..adc765c4302974a5b9ae32f86bdf711f4d6ab962
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p44-dog/scene_eq.xml
@@ -0,0 +1,781 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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/p44-dog/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p44-dog/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p44-dog/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p44-dog/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p44-dog/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p44-dog/convex/5.obj"/>
+    <mesh name="right_6" file="objects/p44-dog/convex/6.obj"/>
+    <mesh name="right_7" file="objects/p44-dog/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/p44-dog/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <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">
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+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
+                  <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">
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+                  <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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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/gigahand/xhand/bimanual/p44-dog/task_info.json b/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a17ee4eabe66ccdeb8d472977a759751ae65d147
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p44-dog/task_info.json
@@ -0,0 +1,10 @@
+{
+  "task": "p44-dog",
+  "dataset_name": "gigahand",
+  "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",
+  "left_object_mesh_dir": null,
+  "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/gigahand/assets/objects/p44-dog/convex"
+}
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_ikrollout.npz b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..138fbf2ecf1020aede12f5a8760d03f781a13474
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:749ff45879d4eb10a182ac2143e004f249dfa262ea20cbb8749bdd00a0b62c25
+size 52262
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_kinematic.npz b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b26bbf4a5e592128b636480a8a390ef22faa8d1f
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 239916
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwp.npz b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0543b62ed0725b6edede89c17ea895547fa04432
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e1da15d5ee5daba4804927a5176c69ca8b3f35f2f1d6fc135c14542bc380800
+size 288466
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwpeq.npz b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3e47338bbaf8a746a1398ae6c69316cc9089bb3
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/34/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8228178b77c5487caa6e3dc0e92cb7426de4e8a40d661a9954521ee0d6a540e
+size 288466
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_ik.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..211d649aed253180f745b0dea17703228ec16429
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf629e2bcb0c4e48b9b55d31afdc7aa0a751c0f995a2bc8c86e4c040715516b
+size 119974
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwp.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fc44e88048b2206d498926901a8a2edd6afaaed
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f99dd1ebad4a2a22ae3fec50072f4dac0ebe2dd3ee54f980a72c48db81d0210
+size 175229
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwpeq.mp4 b/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddd6bcadbe995d968b6529b37c1f4f5181d2fd5e
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/34/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece0fc0f7aa244d292aa6263fb4f8c7796117dcf3b694284c0da3fb4eae62453
+size 174245
diff --git a/processed/gigahand/xhand/bimanual/p52-instrument/scene.xml b/processed/gigahand/xhand/bimanual/p52-instrument/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aa77cc4e7c6b2325c0b6006963533c2061d6102b
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/scene.xml
@@ -0,0 +1,704 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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/p52-instrument/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj"/>
+    <mesh name="right_visual" file="objects/p52-instrument/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" 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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="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"/>
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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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" 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="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"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="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/gigahand/xhand/bimanual/p52-instrument/scene_eq.xml b/processed/gigahand/xhand/bimanual/p52-instrument/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f5b3d930dad7ef670dfc5bdf8d225369dfeca854
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/scene_eq.xml
@@ -0,0 +1,727 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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/p52-instrument/convex/0.obj"/>
+    <mesh name="right_1" file="objects/p52-instrument/convex/1.obj"/>
+    <mesh name="right_2" file="objects/p52-instrument/convex/2.obj"/>
+    <mesh name="right_3" file="objects/p52-instrument/convex/3.obj"/>
+    <mesh name="right_4" file="objects/p52-instrument/convex/4.obj"/>
+    <mesh name="right_5" file="objects/p52-instrument/convex/5.obj"/>
+    <mesh name="right_visual" file="objects/p52-instrument/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" 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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.51175 0.464024 0.2359" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.512859 0.460685 0.235949" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.492556 0.449605 0.252519" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.44699 0.429017 0.273535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.83563 0.544825 0.266765" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.776037 0.522516 0.258801" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.757574 0.52421 0.248806" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.739021 0.521407 0.24515" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0.726217 0.517055 0.251473" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object" gravcomp="1">
+      <joint name="left_object_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="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+  </contact>
+
+  <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/gigahand/xhand/bimanual/p52-instrument/task_info.json b/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..09cd962dcc0f10c2f7af29bcd85c2e3b5153de50
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/p52-instrument/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "p52-instrument",
+  "dataset_name": "gigahand",
+  "robot_type": "xhand",
+  "hand_type": "bimanual",
+  "data_id": 34,
+  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/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"
+}
\ No newline at end of file
diff --git a/processed/gigahand/xhand/bimanual/summary.csv b/processed/gigahand/xhand/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9afaf2c91eb8f13dc2b3b9f24b637eaebb38e032
--- /dev/null
+++ b/processed/gigahand/xhand/bimanual/summary.csv
@@ -0,0 +1,4 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,data_type,pos_err_threshold,quat_err_threshold,timestamp,data_id,obj_pos_err,obj_quat_err,success
+p44-dog,1,1,1.0,0.03807266459060254,0.0,0.06594192788614571,0.0,gigahand,xhand,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,4.0,0.03807266459060254,0.06594192788614571,True
+p52-instrument,1,1,1.0,0.048070979713597785,0.0,0.16349417192646706,0.0,gigahand,xhand,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,34.0,0.048070979713597785,0.16349417192646706,True
+p36-tea,1,0,0.0,0.13654073147312762,0.0,0.7312109092762482,0.0,gigahand,xhand,bimanual,mjwpeq,0.1,0.5,2025-08-30 18:41:52,10.0,0.13654073147312762,0.7312109092762482,False
diff --git a/processed/oakink/ability/bimanual/complete_data.csv b/processed/oakink/ability/bimanual/complete_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b07eddac88eccd98b90aed033fdf616bfec9e64c
--- /dev/null
+++ b/processed/oakink/ability/bimanual/complete_data.csv
@@ -0,0 +1,8 @@
+dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
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+oakink,ability,bimanual,mjwpeq,pour_tube,0,pour_tube/0,0.15605536879534646,1.0809137638399609,0.11037886129475995,0.20173187629593298,0.8915642137245108,1.2702633139554107,False,0.1,0.5
+oakink,ability,bimanual,mjwpeq,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.07214501183521041,0.15604205609188596,0.13276582182578317,0.011524201844637663,0.2554201580517484,0.05666395413202354,True,0.1,0.5
+oakink,ability,bimanual,mjwpeq,lift_board,0,lift_board/0,0.20689622897557905,0.3107060367427231,0.20689622897557905,1.5043952986040323e-05,0.3107060367427231,1.2375348239685592e-05,False,0.1,0.5
+oakink,ability,bimanual,mjwpeq,stir_beaker,0,stir_beaker/0,0.18563496167699856,0.8575679105622694,0.3605698349595674,0.010700088394429735,1.6408496767352687,0.07428614438927021,False,0.1,0.5
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+oakink,ability,bimanual,mjwpeq,unplug,0,unplug/0,0.03741436706689542,0.141386591603655,0.059026449071431605,0.015802285062359228,0.18420649419750035,0.09856668900980962,True,0.1,0.5
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new file mode 100644
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new file mode 100644
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diff --git a/processed/oakink/ability/bimanual/pour_tube/scene.xml b/processed/oakink/ability/bimanual/pour_tube/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..74810b3eceee5384440e0f96c576ea234f162571
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/scene.xml
@@ -0,0 +1,897 @@
+<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="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"/>
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+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0011@00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
+  </asset>
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+  <worldbody>
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+    <light pos="0 0 3.5" dir="0 0 -1"/>
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+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
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+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
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+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
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+            <body name="L_forearm_yaw_link">
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+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
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+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
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+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
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+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
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+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_index_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_index_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_1" name="collision_hand_right_index_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_index_0" name="collision_hand_right_index_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_index_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_index_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml b/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2749b5c8b4523fe0658f91f3edfe343418d17cef
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/scene_eq.xml
@@ -0,0 +1,920 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0011@00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
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+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
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+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_7" name="collision_hand_left_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_7" name="collision_hand_left_index_4_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_0" name="collision_hand_left_index_5_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_0" name="collision_hand_left_index_6_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <equality>
+    <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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/pour_tube/task_info.json b/processed/oakink/ability/bimanual/pour_tube/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..704378221a65ced0d8951087eeb0baa5ba75fe34
--- /dev/null
+++ b/processed/oakink/ability/bimanual/pour_tube/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "pour_tube",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..578c1fc5bcf2aa816ac78497767a5f989d564269
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770970e0a2ef21b0c900b972174365e1b67431c1f3b4652aebe0d31cd2237b22
+size 212966
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c60c13e5ecb34556fc6322c359ba141d68baf9a
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0567ef339ea6c3d276674d3bf3ac9d1398f10ffc083d0a0881b7016f3ac185cc
+size 1001580
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3288f3ec88875b8b5e32749464ec9fa31c5582fa
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756110737b1c46d99b9d7ea5e5f9973ee723358ad99b00a210501fd9f86642a2
+size 1169626
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_mjwpeq.npz b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c6004169d0e2773cd67cb1dd866fa3d7fe52736
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ad556e370575e492da2539500da31c00494d3eb966d4d53f3db0f58953e492d
+size 1169626
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/visualization_ik.mp4 b/processed/oakink/ability/bimanual/stir_beaker/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db72f106b883cecebedac3d404262c7fc8af0e9b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ab57f5fc1c3d25a76c8047e06315fbca7f9a3c22989c683cc047671e8eb55f
+size 798434
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/stir_beaker/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a24615515f34ab0f2a147c13349d097b269a6dc
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7318c00c736570732d3cffcdc6fa94647bf2d0f566a93fc1b0a2f8fe160cc5d5
+size 1089275
diff --git a/processed/oakink/ability/bimanual/stir_beaker/0/visualization_mjwpeq.mp4 b/processed/oakink/ability/bimanual/stir_beaker/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5573ca4c1505d7b2b12e219faab186fd8e4198f6
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77037bf9cb5f12eaeaa650fe8bf79b04471a7d0fc288c8f575cabc60f2b2fb9
+size 1087846
diff --git a/processed/oakink/ability/bimanual/stir_beaker/scene.xml b/processed/oakink/ability/bimanual/stir_beaker/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fe885f7720b518cbda62602abd686f9e31cd266c
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/scene.xml
@@ -0,0 +1,897 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
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+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
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+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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">
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+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
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+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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">
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+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
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+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
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+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
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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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_4" name="collision_hand_left_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_4" name="collision_hand_left_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_5" name="collision_hand_left_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_5" name="collision_hand_left_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_6" name="collision_hand_left_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_6" name="collision_hand_left_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_4" name="collision_hand_left_thumb_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_5" name="collision_hand_left_thumb_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_0" name="collision_hand_left_index_5_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_0" name="collision_hand_left_index_6_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_1" name="collision_hand_left_index_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_1" name="collision_hand_left_index_4_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_1" name="collision_hand_left_index_5_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_1" name="collision_hand_left_index_6_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_2" name="collision_hand_left_index_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_2" name="collision_hand_left_index_4_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_2" name="collision_hand_left_index_5_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_2" name="collision_hand_left_index_6_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_3" name="collision_hand_left_index_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_3" name="collision_hand_left_index_4_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_3" name="collision_hand_left_index_5_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_3" name="collision_hand_left_index_6_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_4" name="collision_hand_left_index_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_4" name="collision_hand_left_index_4_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_4" name="collision_hand_left_index_5_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_4" name="collision_hand_left_index_6_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_5" name="collision_hand_left_index_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_5" name="collision_hand_left_index_4_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_5" name="collision_hand_left_index_5_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_5" name="collision_hand_left_index_6_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_6" name="collision_hand_left_index_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_6" name="collision_hand_left_index_4_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_6" name="collision_hand_left_index_5_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_6" name="collision_hand_left_index_6_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_7" name="collision_hand_left_index_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_7" name="collision_hand_left_index_4_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/ability/bimanual/stir_beaker/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..88a1c4636c4a79659fa8459e198853934ddf68cc
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/scene_eq.xml
@@ -0,0 +1,920 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_palm_1" name="collision_hand_right_index_0_collision_hand_left_palm_1" 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"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_index_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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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="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" 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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/stir_beaker/task_info.json b/processed/oakink/ability/bimanual/stir_beaker/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6043b5823c0d009e7230089a173534e48ccf2064
--- /dev/null
+++ b/processed/oakink/ability/bimanual/stir_beaker/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "stir_beaker",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/summary.csv b/processed/oakink/ability/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7de2e4c858770a3d4367b97b8e7a20ca629d0b71
--- /dev/null
+++ b/processed/oakink/ability/bimanual/summary.csv
@@ -0,0 +1,8 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
+wipe_board,1,1,1.0,0.04258329072943019,0.0,0.14022235345826511,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.04258329072943019,0.14022235345826511,True
+pour_tube,1,0,0.0,0.15605536879534646,0.0,1.0809137638399609,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15605536879534646,1.0809137638399609,False
+uncap_alcohol_burner,1,1,1.0,0.07214501183521041,0.0,0.15604205609188596,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07214501183521041,0.15604205609188596,True
+lift_board,1,0,0.0,0.20689622897557905,0.0,0.3107060367427231,0.0,oakink,ability,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.20689622897557905,0.3107060367427231,False
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+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fe7c2a487d1d1f1336654ced138e6a0a526c905a
--- /dev/null
+++ b/processed/oakink/ability/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -0,0 +1,1049 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0206@00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
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+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
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+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
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+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
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+    <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_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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"/>
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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"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_2" name="collision_hand_left_index_5_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_2" name="collision_hand_left_index_6_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_3" name="collision_hand_left_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_3" name="collision_hand_left_index_4_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_3" name="collision_hand_left_index_5_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_3" name="collision_hand_left_index_6_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_4" name="collision_hand_left_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_4" name="collision_hand_left_index_4_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_4" name="collision_hand_left_index_5_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_4" name="collision_hand_left_index_6_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_5" name="collision_hand_left_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_5" name="collision_hand_left_index_4_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_5" name="collision_hand_left_index_5_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_5" name="collision_hand_left_index_6_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_6" name="collision_hand_left_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_6" name="collision_hand_left_index_4_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_6" name="collision_hand_left_index_5_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_6" name="collision_hand_left_index_6_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
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+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a077dab0480b86ed2e4acc82a271b647478396b
--- /dev/null
+++ b/processed/oakink/ability/bimanual/uncap_alcohol_burner/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "uncap_alcohol_burner",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a8e49aa9754c969aa842848157b08a4e20aa335
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51069e7f8c06dd03addaaf15036d8ca580ff904ae450651a1e0720341471e5c6
+size 144518
diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3291e44192ef569ab48cdcd3a7e94c4cba7c5d1
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3db7369dc0f81357d59d9f6920f9a9fa10ae453630566edf940ecee3aa930ad
+size 680172
diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d9715442af6ceb0dc3b7baaeff826f03086bab7
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:612668587c338546ac520a5750f250825387ba99402ab741e810a12759b559ff
+size 807178
diff --git a/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwpeq.npz b/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c234af0bcf34685b66d3b7ebf7d3b4d55b377ac9
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ec8d3269075433a56cca12763c03e913d206235deab2e79f84514ac8050f229
+size 807178
diff --git a/processed/oakink/ability/bimanual/unplug/0/visualization_ik.mp4 b/processed/oakink/ability/bimanual/unplug/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fabcece3a81c2ce02500bb722f1dc4af1e13162
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598b00b47e20436dcce1c333ff9d82dd7c9cb9e0581c9a7bd515a0a3f0c64a53
+size 403997
diff --git a/processed/oakink/ability/bimanual/unplug/0/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/unplug/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c4882be76e4143c979d27bc81f9e2ce2f21b5b4
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1176acd210ee26ada265f14fb890e150c7c31b8b11f33d4e497b2a4a986e807e
+size 611854
diff --git a/processed/oakink/ability/bimanual/unplug/0/visualization_mjwpeq.mp4 b/processed/oakink/ability/bimanual/unplug/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..438a2c4abec13cd987338ee69b20768ac28d70fd
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39133c3b528eec79d914c00444753e40a442a3d59c73d05acf9ac062b6378036
+size 608187
diff --git a/processed/oakink/ability/bimanual/unplug/scene.xml b/processed/oakink/ability/bimanual/unplug/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1b8a5eea69f93ab08e3cea26f302e21ec280a442
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/scene.xml
@@ -0,0 +1,1198 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_5" name="collision_hand_left_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_4" name="collision_hand_left_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_4" name="collision_hand_left_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_5" name="collision_hand_left_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_5" name="collision_hand_left_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_6" name="collision_hand_left_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_6" name="collision_hand_left_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_4" name="collision_hand_left_thumb_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_5" name="collision_hand_left_thumb_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/unplug/scene_eq.xml b/processed/oakink/ability/bimanual/unplug/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6fef1075e70f4a081b40723d81a415b116633638
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/scene_eq.xml
@@ -0,0 +1,1221 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_3" name="collision_hand_right_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_3" name="collision_hand_right_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_4" name="collision_hand_right_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_4" name="collision_hand_right_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_5" name="collision_hand_right_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_5" name="collision_hand_right_palm_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_6" name="collision_hand_right_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_6" name="collision_hand_right_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_3" name="collision_hand_left_palm_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_3" name="collision_hand_left_palm_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_4" name="collision_hand_left_palm_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_4" name="collision_hand_left_palm_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_5" name="collision_hand_left_palm_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_6" name="collision_hand_left_palm_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_6" name="collision_hand_left_palm_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_4" name="collision_hand_left_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_4" name="collision_hand_left_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_5" name="collision_hand_left_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_5" name="collision_hand_left_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_6" name="collision_hand_left_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_6" name="collision_hand_left_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_3" name="collision_hand_left_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_4" name="collision_hand_left_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_5" name="collision_hand_left_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
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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"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_1" name="collision_hand_left_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_1" name="collision_hand_left_index_4_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/unplug/task_info.json b/processed/oakink/ability/bimanual/unplug/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..096f038b5e5b0a9d6d79410e91704d7f4ee5cc25
--- /dev/null
+++ b/processed/oakink/ability/bimanual/unplug/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "unplug",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51192966977dacc6192f77bfd37db085b21953bb
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1600c32ba2627428402b0156565ea170841d07c31a11ad4b7f54c069f3214e50
+size 126118
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc9a854e1dd48d39dc54cbfa33de6a642db44a43
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb0d68575a70e5b64f40105bd02821d082b370f0ecbfed39b712fb7f1ba35ff3
+size 593772
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwp.npz b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2708b276c1aed0d0b39d655dcc19572c3c74e20
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b006f761aae1cea04ea419ee3303864db1a8a4c440c20b51bfd37ff4dd2c7a7b
+size 706498
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwpeq.npz b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8bd1f39e0ca71c88dd07b11f4e747fbe3ac845c4
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647faa957d4da7ea4b5e30dcd4ee8a44cba73b2c0f69c13a379f8b23a25cf0dd
+size 706498
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/visualization_ik.mp4 b/processed/oakink/ability/bimanual/wipe_board/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..665cf9886d02847c5ae97a9ea0b0ee44205970af
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7050b4e1c5cef81aa34e3fd800a9a8d753ca2105bd698bf631fb7138cebe28f
+size 403570
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwp.mp4 b/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0aa9975c18b6c84aa0c5a91719d26d3cddfca93d
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8acfc01c1ce2da9d4207399a418033b11d98094f8b4d63ff9c853f732aea1d76
+size 595810
diff --git a/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwpeq.mp4 b/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..709d7f66c7e69b1e16373c75adfa8991e7bc63b4
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2075e4c74c9f8ebeff54ff9f5dfc6b128e89f686ba7ad899c7dd4cf025fe9746
+size 593623
diff --git a/processed/oakink/ability/bimanual/wipe_board/scene.xml b/processed/oakink/ability/bimanual/wipe_board/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..645cb7440ec64072121921a1e82afa9b400b581a
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/scene.xml
@@ -0,0 +1,897 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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_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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="right_object_0" name="collision_hand_left_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="right_object_0" name="collision_hand_left_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_0" name="collision_hand_left_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_0" name="collision_hand_left_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_1" name="collision_hand_left_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_1" name="collision_hand_left_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_2" name="collision_hand_left_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_2" name="collision_hand_left_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_3" name="collision_hand_left_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_3" name="collision_hand_left_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_4" name="collision_hand_left_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_4" name="collision_hand_left_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_5" name="collision_hand_left_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_5" name="collision_hand_left_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_6" name="collision_hand_left_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_6" name="collision_hand_left_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_1" geom2="left_object_7" name="collision_hand_left_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_2" geom2="left_object_7" name="collision_hand_left_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_0" name="collision_hand_left_thumb_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_1" name="collision_hand_left_thumb_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_2" name="collision_hand_left_thumb_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_3" name="collision_hand_left_thumb_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_4" name="collision_hand_left_thumb_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_5" name="collision_hand_left_thumb_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_6" name="collision_hand_left_thumb_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_3" geom2="left_object_7" name="collision_hand_left_thumb_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="right_object_0" name="collision_hand_left_index_5_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="right_object_0" name="collision_hand_left_index_6_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_0" name="collision_hand_left_index_3_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_0" name="collision_hand_left_index_4_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_0" name="collision_hand_left_index_5_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_0" name="collision_hand_left_index_6_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_1" name="collision_hand_left_index_3_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_1" name="collision_hand_left_index_4_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_1" name="collision_hand_left_index_5_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_1" name="collision_hand_left_index_6_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_2" name="collision_hand_left_index_3_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_2" name="collision_hand_left_index_4_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_2" name="collision_hand_left_index_5_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_2" name="collision_hand_left_index_6_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_3" name="collision_hand_left_index_3_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_3" name="collision_hand_left_index_4_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_3" name="collision_hand_left_index_5_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_3" name="collision_hand_left_index_6_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_4" name="collision_hand_left_index_3_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_4" name="collision_hand_left_index_4_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_4" name="collision_hand_left_index_5_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_4" name="collision_hand_left_index_6_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_5" name="collision_hand_left_index_3_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_5" name="collision_hand_left_index_4_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_5" name="collision_hand_left_index_5_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_5" name="collision_hand_left_index_6_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_6" name="collision_hand_left_index_3_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_6" name="collision_hand_left_index_4_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_6" name="collision_hand_left_index_5_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_6" name="collision_hand_left_index_6_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_3" geom2="left_object_7" name="collision_hand_left_index_3_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_4" geom2="left_object_7" name="collision_hand_left_index_4_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_5" geom2="left_object_7" name="collision_hand_left_index_5_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_6" geom2="left_object_7" name="collision_hand_left_index_6_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/wipe_board/scene_eq.xml b/processed/oakink/ability/bimanual/wipe_board/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8a25e080d446e50dd2c69e2dbc580ac45ec82d5d
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/scene_eq.xml
@@ -0,0 +1,920 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_wristmesh" content_type="model/obj" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="right_wristmesh_C" content_type="model/obj" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="right_FB_palm_ref" content_type="model/obj" file="robots/ability/assets/FB_palm_ref.obj"/>
+    <mesh name="right_thumb-F1" content_type="model/obj" file="robots/ability/assets/thumb-F1.obj"/>
+    <mesh name="right_thumb-F1_C" content_type="model/obj" file="robots/ability/assets/thumb-F1_C.obj"/>
+    <mesh name="right_thumb-F2" content_type="model/obj" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="right_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="right_idx-F1" content_type="model/obj" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="right_idx-F2" content_type="model/obj" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="right_idx-F2_C" content_type="model/obj" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="left_wristmesh" file="robots/ability/assets/wristmesh.obj"/>
+    <mesh name="left_wristmesh_C" file="robots/ability/assets/wristmesh_C.obj"/>
+    <mesh name="left_FB_palm_ref_MIR" file="robots/ability/assets/FB_palm_ref_MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR" file="robots/ability/assets/thumb-F1-MIR.obj"/>
+    <mesh name="left_thumb-F1-MIR_C" file="robots/ability/assets/thumb-F1-MIR_C.obj"/>
+    <mesh name="left_thumb-F2" file="robots/ability/assets/thumb-F2.obj"/>
+    <mesh name="left_thumb-F2_C" content_type="model/obj" file="robots/ability/assets/thumb-F2_C.obj"/>
+    <mesh name="left_idx-F1" file="robots/ability/assets/idx-F1.obj"/>
+    <mesh name="left_idx-F2" file="robots/ability/assets/idx-F2.obj"/>
+    <mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
+    <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="L_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="L_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="L_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="L_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="L_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_base">
+                <inertial pos="0.0192248 0.0101927 0.0246965" quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" diaginertia="0.00200455 0.00200455 0.00178617"/>
+                <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_wrist_mesh" type="mesh" group="1" density="0" mesh="right_wristmesh"/>
+                <geom name="collision_hand_right_palm_0" type="mesh" group="3" mesh="right_wristmesh_C"/>
+                <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="1" density="0" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" group="3" mesh="right_FB_palm_ref"/>
+                <geom name="collision_hand_right_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" quat="-0.00419696 0.994514 -0.0947972 0.0440301">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="right_thumb-F1"/>
+                  <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" mesh="right_thumb-F1_C"/>
+                  <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
+                    <geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
+                    <geom name="collision_hand_right_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 -0.00196742" quat="0.72689 0.231501 -0.646559 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                    <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483"/>
+                  </body>
+                </body>
+                <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="right_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_right_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="right_idx-F2"/>
+                    <geom type="mesh" mesh="right_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="right_pinky_tip" pos="0.03 -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>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_base">
+                <inertial pos="0.00928558 -0.0120495 0.0097618" quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" diaginertia="0.00194995 0.00194995 0.00178617"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="left_wrist_mesh" type="mesh" group="1" density="0" mesh="left_wristmesh"/>
+                <geom name="collision_hand_left_palm_0" type="mesh" group="3" mesh="left_wristmesh_C"/>
+                <geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="1" density="0" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" group="3" mesh="left_FB_palm_ref_MIR"/>
+                <geom name="collision_hand_left_palm_2" size="0.03 0.02 0.04" pos="0 0 0.05" type="box" group="3" density="0" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 -0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" quat="-0.0947972 0.0440301 -0.00419696 0.994514">
+                  <inertial pos="0.014606 -0.00189085 -0.00311554" quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" diaginertia="8.14795e-05 7.42718e-05 1.14409e-05"/>
+                  <joint name="left_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6"/>
+                  <geom name="left_thumb_mesh_1" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="1" density="0" mesh="left_thumb-F1-MIR"/>
+                  <geom name="collision_hand_left_thumb_2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0" type="mesh" group="3" mesh="left_thumb-F1-MIR_C"/>
+                  <geom name="collision_hand_left_thumb_3" size="0.01" pos="0.0278284 0 0.0147507" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_thumb_L2" pos="0.0278284 0 0.0147507" quat="0.608761 0.793353 0 0">
+                    <inertial pos="0.0300205 0.00559476 -0.00415044" quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" diaginertia="0.00180207 0.00170892 0.000287855"/>
+                    <joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
+                    <geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
+                    <geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
+                    <geom name="collision_hand_left_thumb_0" size="0.007 0.0346755" pos="0.0325934 0.0116701 0.00196742" quat="0.686754 0.245031 -0.684346 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="track_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                    <site name="trace_hand_left_thumb_tip" pos="0.0651867 0.0233402 0.00393483"/>
+                  </body>
+                </body>
+                <body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
+                  <inertial pos="0.0224191 -0.000157982 -1.31987e-05" quat="-0.00406251 0.706621 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_index_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom name="collision_hand_left_index_2" size="0.0085" pos="0.036 -0.00175 0" group="3"/>
+                  <geom name="collision_hand_left_index_3" size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_4" size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_5" size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_6" size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box" group="3"/>
+                  <geom name="collision_hand_left_index_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_index_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_index_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_middle_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_middle_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_middle_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_middle_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_ring_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_ring_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_ring_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_ring_tip" pos="0.03 -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 0.00934716 0.707518" mass="0.00635888" diaginertia="0.000381765 0.000369601 2.96432e-05"/>
+                  <joint name="left_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                  <geom name="left_pinky_mesh_1" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244" type="mesh" group="1" density="0" mesh="left_idx-F1"/>
+                  <geom size="0.0085" pos="0.036 -0.00175 0"/>
+                  <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" type="box"/>
+                  <geom name="collision_hand_left_pinky_1" size="0.01" pos="0.019 -0.0045 0" group="3" density="0" rgba="0 1 0 1"/>
+                  <body name="left_pinky_L2" pos="0.0384727 0.0032577 0" quat="0.999108 0 0 0.0422244">
+                    <inertial pos="0.0133682 -0.00875392 -2.886e-05" quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" diaginertia="0.000264645 0.000263553 1.71391e-05"/>
+                    <joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1"/>
+                    <geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" group="1" density="0" mesh="left_idx-F2"/>
+                    <geom type="mesh" mesh="left_idx-F2_C"/>
+                    <geom size="0.007" pos="0.03 -0.016 0"/>
+                    <geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+                    <site name="left_pinky_tip" pos="0.03 -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>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_palm_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="right_object_0" name="collision_hand_right_palm_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="right_object_0" name="collision_hand_right_palm_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_0" name="collision_hand_right_palm_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_0" name="collision_hand_right_palm_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_1" name="collision_hand_right_palm_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_1" name="collision_hand_right_palm_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_2" name="collision_hand_right_palm_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_2" name="collision_hand_right_palm_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_3" name="collision_hand_right_palm_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_3" name="collision_hand_right_palm_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_4" name="collision_hand_right_palm_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_4" name="collision_hand_right_palm_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_5" name="collision_hand_right_palm_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_5" name="collision_hand_right_palm_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_6" name="collision_hand_right_palm_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_6" name="collision_hand_right_palm_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_1" geom2="left_object_7" name="collision_hand_right_palm_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_2" geom2="left_object_7" name="collision_hand_right_palm_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_thumb_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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_palm_1" name="collision_hand_right_index_0_collision_hand_left_palm_1" 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"/>
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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="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_middle_0_collision_hand_left_palm_1" 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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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="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="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
+    <general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
+    <general name="right_index_q2_position" joint="right_index_q2" ctrlrange="0 1"/>
+    <general name="right_middle_q1_position" joint="right_middle_q1" ctrlrange="0 1"/>
+    <general name="right_middle_q2_position" joint="right_middle_q2" ctrlrange="0 1"/>
+    <general name="right_ring_q1_position" joint="right_ring_q1" ctrlrange="0 1"/>
+    <general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
+    <general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
+    <general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
+    <general name="R_forearm_tx_position" 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="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
+    <general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
+    <general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
+    <general name="left_index_q2_position" joint="left_index_q2" ctrlrange="0 1"/>
+    <general name="left_middle_q1_position" joint="left_middle_q1" ctrlrange="0 1"/>
+    <general name="left_middle_q2_position" joint="left_middle_q2" ctrlrange="0 1"/>
+    <general name="left_ring_q1_position" joint="left_ring_q1" ctrlrange="0 1"/>
+    <general name="left_ring_q2_position" joint="left_ring_q2" ctrlrange="0 1"/>
+    <general name="left_pinky_q1_position" joint="left_pinky_q1" ctrlrange="0 1"/>
+    <general name="left_pinky_q2_position" joint="left_pinky_q2" ctrlrange="0 1"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/ability/bimanual/wipe_board/task_info.json b/processed/oakink/ability/bimanual/wipe_board/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..378fcf3c0594f6e77fc5eec4fe8ecf94cf95122e
--- /dev/null
+++ b/processed/oakink/ability/bimanual/wipe_board/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "wipe_board",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/allegro/bimanual/complete_data.csv b/processed/oakink/allegro/bimanual/complete_data.csv
index 27990e839a28d4d7f166cd85c528a2976f8040a7..9490f97d9ef1295368f201027a3723beb5312816 100644
--- a/processed/oakink/allegro/bimanual/complete_data.csv
+++ b/processed/oakink/allegro/bimanual/complete_data.csv
@@ -1,8 +1,8 @@
-dataset,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
-oakink,wipe_board,0,wipe_board/0,0.056947810424788844,0.42639165636323356,0.07693012047049456,0.03696550037908313,0.5765225251145139,0.2762607876119533,True,0.1,0.5
-oakink,pour_tube,0,pour_tube/0,0.1540819184012649,1.0010796915916733,0.10331867260558869,0.20484516419694113,0.6917841336373757,1.3103752495459708,False,0.1,0.5
-oakink,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.04129232638190146,0.3095681593396697,0.07772685043885885,0.004857802324944064,0.5094844553585288,0.10965186332081057,True,0.1,0.5
-oakink,lift_board,0,lift_board/0,0.2045167789184268,0.38575271751623375,0.2045167789184268,1.0041536661564825e-10,0.38575271751623375,3.9719939879960237e-10,False,0.1,0.5
-oakink,stir_beaker,0,stir_beaker/0,0.08550135879811657,0.46369480267708274,0.16325560475832185,0.007747112837911308,0.7999389360285628,0.12745066932560264,True,0.1,0.5
-oakink,pick_spoon_bowl,0,pick_spoon_bowl/0,0.06942022261341002,0.39917362794594885,0.12775813737267447,0.011082307854145582,0.7487017474714792,0.04964550842041847,True,0.1,0.5
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+  <compiler angle="radian" meshdir="../../../assets/"/>
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+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
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+          <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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/pour_tube/scene_eq.xml b/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0752c7129716ff9522bd67d0cee67bf8ed559f71
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/scene_eq.xml
@@ -0,0 +1,793 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" content_type="model/obj" file="objects/O02@0011@00003/convex/0.obj"/>
+    <mesh name="right_1" content_type="model/obj" file="objects/O02@0011@00003/convex/1.obj"/>
+    <mesh name="right_2" content_type="model/obj" file="objects/O02@0011@00003/convex/2.obj"/>
+    <mesh name="right_3" content_type="model/obj" file="objects/O02@0011@00003/convex/3.obj"/>
+    <mesh name="right_4" content_type="model/obj" file="objects/O02@0011@00003/convex/4.obj"/>
+    <mesh name="right_5" content_type="model/obj" file="objects/O02@0011@00003/convex/5.obj"/>
+    <mesh name="right_6" content_type="model/obj" file="objects/O02@0011@00003/convex/6.obj"/>
+    <mesh name="right_7" content_type="model/obj" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="left_0" content_type="model/obj" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0202@00002/visual.obj"/>
+  </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">
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+            <joint name="right_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_R"/>
+            <body name="right_thumb_distal" pos="0.020248 0.010156 -0.0012">
+              <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
+              <joint name="right_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_R"/>
+              <geom name="collision_hand_right_thumb_0" size="0.005 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">
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+          <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">
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+          <joint name="right_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_R"/>
+          <geom name="collision_hand_right_pinky_0" size="0.005 0.0184372" pos="0.00069633 0.0181388 -0.00500524" quat="0.707207 0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="track_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+          <site name="trace_hand_right_pinky_tip" pos="-0.00260734 0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="left_hand_base" gravcomp="1">
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_left_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
+      <site name="left_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_thumb_proximal_base" pos="-0.01696 -0.0691 0.02045" quat="0.499998 0.5 -0.5 0.500002">
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+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
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+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
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+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
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+              <joint name="left_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+              <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link14_L"/>
+              <geom name="collision_hand_left_thumb_0" size="0.005 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">
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+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/pour_tube/task_info.json b/processed/oakink/inspire/bimanual/pour_tube/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8965c3959b1b8e93a0d0152053489d617eaef4
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/pour_tube/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "pour_tube",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_ikrollout.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 215462
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..23b55a2f64fdf92cd7a92b4d545a6253709ddf06
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd9f6b73978ed213dab1cbe17021952fec94ab02
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1280986
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwpeq.npz b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f6fb3b819f7c0e1debdf72ff23b0edee588f16d
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1280986
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_ik.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b88334a59d5d2e76fd6a70ae07479590c1fbc0f3
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 803653
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwp.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80695b35543a47833df439e787ebeec38e490d92
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1141097
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwpeq.mp4 b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dc25a09ae03dc9126e92efdb3929d1cbdd61306
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1038658
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/scene.npz b/processed/oakink/inspire/bimanual/stir_beaker/scene.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ae59a4646bcfac3ecfc9824244ca85e33959862
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/scene.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0fb5ed737151233eb6524f287da537945b52f70a0a689cc02ba8df27120d7e
+size 10170260
diff --git a/processed/oakink/inspire/bimanual/stir_beaker/scene.xml b/processed/oakink/inspire/bimanual/stir_beaker/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6baa4fcfe4270c4a1522075bf1b9f0f078f2561b
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/scene.xml
@@ -0,0 +1,770 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_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">
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+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
+            <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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
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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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/inspire/bimanual/stir_beaker/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c5de61e5fc0a40e507e36de04aa1092638cdf32e
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/scene_eq.xml
@@ -0,0 +1,793 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
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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"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="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"/>
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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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/stir_beaker/task_info.json b/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..70cee38130ee7f6c26384788578221e858eb5f56
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/stir_beaker/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "stir_beaker",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/summary.csv b/processed/oakink/inspire/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb3ec9a24b685afadee4ece787f2a8618a93b5c3
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/summary.csv
@@ -0,0 +1,8 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
+wipe_board,1,1,1.0,0.05839278869506484,0.0,0.18220224953315375,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.05839278869506484,0.18220224953315375,True
+pour_tube,1,0,0.0,0.09235134802590544,0.0,0.7884399387857628,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.09235134802590544,0.7884399387857628,False
+uncap_alcohol_burner,1,1,1.0,0.05584856231174014,0.0,0.21383052100485853,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.05584856231174014,0.21383052100485853,True
+lift_board,1,0,0.0,0.20148575371036168,0.0,0.32118061586270474,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.20148575371036168,0.32118061586270474,False
+stir_beaker,1,0,0.0,0.10769801743532337,0.0,0.5434907891497845,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.10769801743532337,0.5434907891497845,False
+pick_spoon_bowl,1,1,1.0,0.06951923571366043,0.0,0.3230613127343557,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.06951923571366043,0.3230613127343557,True
+unplug,1,1,1.0,0.0302487000356649,0.0,0.1626557255955209,0.0,oakink,inspire,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.0302487000356649,0.1626557255955209,True
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..214a2da2f290a8b317d1ce53d164d0f58d94f232
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e690f844ab14b7230fead9274897dd13a5cb5d1807846d6087b1ffe949594c62
+size 40662
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73d2ddaa558c8957860e70601ffec708b88b556e
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4c56997be9507597016c317e3ab9f0bbdd3e6c433a3180ae125fdb647a99cd
+size 187020
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7668d99838e699155088bc8f3754f2bd641b4486
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c8f49d2ba9a8a76f6442420c0dce84c9eca7cda0cc3767cf4044de82d611ab
+size 244354
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_mjwpeq.npz b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d21310c2a9366b63c6bd8905bb84dd193eb6811f
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd22e3afda7babf8cb363be7d69ca2fb93913bd92c98b5f2ea2138612eb09e5
+size 244354
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_ik.mp4 b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51d41913ec093075e6cfa8fadf394392e5ccfdb5
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c360f1af09c71f6a2f5e96e0d31c29de7432032ec79492c69b619aaca3ee9178
+size 166168
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_mjwp.mp4 b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b68c03e4bae8e5a42fd2ff8c8ee49a2d1d42bcc4
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b62d5b490d4a55d08dc6c54f08342db1ee6285b5897bd5413aa3f241859180
+size 247764
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_mjwpeq.mp4 b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..633396882e92dcbe6a4aa16b4e66352dd932d1a4
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:789ecfbab8fc6b74200f12bc7d76a9f0ecb2e17f0c2dbebad6a250f0955e794e
+size 246156
diff --git a/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene.xml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b76f2a2b33f571448ef5c1e172e12261cfebef7c
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene.xml
@@ -0,0 +1,869 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/O02@0206@00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eaf9381ec48936eb5a5a487627412d82140904b5
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -0,0 +1,892 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/O02@0206@00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="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"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_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_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_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"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_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"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98e258930635bfad620620a3018c705c7b9ff62
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/uncap_alcohol_burner/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "uncap_alcohol_burner",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/unplug/0/trajectory_ikrollout.npz b/processed/oakink/inspire/bimanual/unplug/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e79016dc53f5f967074513904c138a0424407f9c
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c905b8027787a5445793a7988bbbbaa7827ad40f9c62f739e67c8d4b259d9ff3
+size 157062
diff --git a/processed/oakink/inspire/bimanual/unplug/0/trajectory_kinematic.npz b/processed/oakink/inspire/bimanual/unplug/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..346db13ed1639ee3b8faa789adec6103e7483ee6
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 717804
diff --git a/processed/oakink/inspire/bimanual/unplug/0/trajectory_mjwp.npz b/processed/oakink/inspire/bimanual/unplug/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b35a73891273f3e26581bc9c377822c1b2256579
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b948af5b5df0705a5f782974a90fd24ebbf11569d32a80fa23c370bdb5ec39
+size 883978
diff --git a/processed/oakink/inspire/bimanual/unplug/0/trajectory_mjwpeq.npz b/processed/oakink/inspire/bimanual/unplug/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7793f43cb65eddfbe4319431c0d648f551c11775
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1075b6ba2e60894e2645b601e7c8683493ad643ba81c2c60b2d5b6502e7cdd76
+size 883978
diff --git a/processed/oakink/inspire/bimanual/unplug/0/visualization_ik.mp4 b/processed/oakink/inspire/bimanual/unplug/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a6cc20420017bfe53618ad7d9f175c56166934f
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87fe8ad486e8d05d20dc84e756745bdd62355af9ce0fa00baddeaf87a895f97d
+size 422332
diff --git a/processed/oakink/inspire/bimanual/unplug/0/visualization_mjwp.mp4 b/processed/oakink/inspire/bimanual/unplug/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be3d6fbf690581d88f16bddc950eaeaff7e20450
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60ec12fd7b432b0af21a58322184db49f323acc886589da61014b60479ab213
+size 647066
diff --git a/processed/oakink/inspire/bimanual/unplug/0/visualization_mjwpeq.mp4 b/processed/oakink/inspire/bimanual/unplug/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b1bdbf0c1ee72f99ea4ffbbe581cd6161fc5912
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f184a8a596b755eb770f95f49f0ac040db0b6635f937e7680ca446bf543aca13
+size 653412
diff --git a/processed/oakink/inspire/bimanual/unplug/scene.xml b/processed/oakink/inspire/bimanual/unplug/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6d6de468e0294250d31c896c794c6b77a3633373
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/scene.xml
@@ -0,0 +1,1001 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <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">
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+        <joint name="left_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link11_L"/>
+        <body name="left_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
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+          <joint name="left_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="0 0.5"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link12_L"/>
+          <geom name="collision_hand_left_thumb_1" size="0.01 0.0317451" pos="0.022392 -0.0163635 -0.005" quat="0.707107 -0.420197 -0.568713 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <body name="left_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
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+            <joint name="left_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+            <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link13_L"/>
+            <body name="left_thumb_distal" pos="0.020248 -0.010156 -0.0012">
+              <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">
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+          <joint name="left_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link16_L"/>
+          <geom name="collision_hand_left_index_0" size="0.005 0.0221315" pos="0.000439735 -0.0216566 -0.00500524" quat="0.70719 -0.691851 0.145684 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="track_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+          <site name="trace_hand_left_index_tip" pos="-0.00412053 -0.0433132 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_middle_proximal" pos="0.00028533 -0.1371 0.01295">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link17_L"/>
+        <geom name="collision_hand_left_middle_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
+          <joint name="left_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link18_L"/>
+          <geom name="collision_hand_left_middle_0" size="0.005 0.0237585" pos="0.000365605 -0.0233022 -0.00499339" quat="0.707008 -0.69362 0.137949 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="track_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+          <site name="trace_hand_left_middle_tip" pos="-0.00426879 -0.0466043 -0.00498678"/>
+        </body>
+      </body>
+      <body name="left_ring_proximal" pos="0.00028533 -0.13691 -0.0062872" quat="0.999657 0.026177 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link19_L"/>
+        <geom name="collision_hand_left_ring_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
+          <joint name="left_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link20_L"/>
+          <geom name="collision_hand_left_ring_0" size="0.005 0.0221058" pos="0.00066723 -0.021677 -0.00500524" quat="0.707191 -0.693309 0.138577 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="track_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+          <site name="trace_hand_left_ring_tip" pos="-0.00366554 -0.0433541 -0.00501047"/>
+        </body>
+      </body>
+      <body name="left_pinky_proximal" pos="0.00028533 -0.13571 -0.025488" quat="0.99863 0.0523361 0 0">
+        <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
+        <joint name="left_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+        <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link21_L"/>
+        <geom name="collision_hand_left_pinky_1" size="0.005 0.0208339" pos="0.000851 -0.011381 -0.005" quat="0.707107 -0.705754 -0.0437151 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+        <body name="left_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
+          <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
+          <joint name="left_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+          <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="Link22_L"/>
+          <geom name="collision_hand_left_pinky_0" size="0.005 0.0184372" pos="0.00069633 -0.0181388 -0.00500524" quat="0.707207 -0.695564 0.126685 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
+          <site name="left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="track_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+          <site name="trace_hand_left_pinky_tip" pos="-0.00260734 -0.0362776 -0.00501047"/>
+        </body>
+      </body>
+    </body>
+    <body name="right_object">
+      <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/unplug/scene_eq.xml b/processed/oakink/inspire/bimanual/unplug/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..76cfc9ccb3748b18e95bd8932f878a7f70c0a6de
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/scene_eq.xml
@@ -0,0 +1,1024 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <option timestep="0.01" iterations="20">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <global azimuth="140" elevation="-20"/>
+    <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+  </visual>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="R_hand_base_link" content_type="model/stl" file="robots/inspire/assets/R_hand_base_link.STL"/>
+    <mesh name="Link11_R" content_type="model/stl" file="robots/inspire/assets/Link11_R.STL"/>
+    <mesh name="Link12_R" content_type="model/stl" file="robots/inspire/assets/Link12_R.STL"/>
+    <mesh name="Link13_R" content_type="model/stl" file="robots/inspire/assets/Link13_R.STL"/>
+    <mesh name="Link14_R" content_type="model/stl" file="robots/inspire/assets/Link14_R.STL"/>
+    <mesh name="Link15_R" content_type="model/stl" file="robots/inspire/assets/Link15_R.STL"/>
+    <mesh name="Link16_R" content_type="model/stl" file="robots/inspire/assets/Link16_R.STL"/>
+    <mesh name="Link17_R" content_type="model/stl" file="robots/inspire/assets/Link17_R.STL"/>
+    <mesh name="Link18_R" content_type="model/stl" file="robots/inspire/assets/Link18_R.STL"/>
+    <mesh name="Link19_R" content_type="model/stl" file="robots/inspire/assets/Link19_R.STL"/>
+    <mesh name="Link20_R" content_type="model/stl" file="robots/inspire/assets/Link20_R.STL"/>
+    <mesh name="Link21_R" content_type="model/stl" file="robots/inspire/assets/Link21_R.STL"/>
+    <mesh name="Link22_R" content_type="model/stl" file="robots/inspire/assets/Link22_R.STL"/>
+    <mesh name="L_hand_base_link" content_type="model/stl" file="robots/inspire/assets/L_hand_base_link.STL"/>
+    <mesh name="Link11_L" content_type="model/stl" file="robots/inspire/assets/Link11_L.STL"/>
+    <mesh name="Link12_L" content_type="model/stl" file="robots/inspire/assets/Link12_L.STL"/>
+    <mesh name="Link13_L" content_type="model/stl" file="robots/inspire/assets/Link13_L.STL"/>
+    <mesh name="Link14_L" content_type="model/stl" file="robots/inspire/assets/Link14_L.STL"/>
+    <mesh name="Link15_L" content_type="model/stl" file="robots/inspire/assets/Link15_L.STL"/>
+    <mesh name="Link16_L" content_type="model/stl" file="robots/inspire/assets/Link16_L.STL"/>
+    <mesh name="Link17_L" content_type="model/stl" file="robots/inspire/assets/Link17_L.STL"/>
+    <mesh name="Link18_L" content_type="model/stl" file="robots/inspire/assets/Link18_L.STL"/>
+    <mesh name="Link19_L" content_type="model/stl" file="robots/inspire/assets/Link19_L.STL"/>
+    <mesh name="Link20_L" content_type="model/stl" file="robots/inspire/assets/Link20_L.STL"/>
+    <mesh name="Link21_L" content_type="model/stl" file="robots/inspire/assets/Link21_L.STL"/>
+    <mesh name="Link22_L" content_type="model/stl" file="robots/inspire/assets/Link22_L.STL"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <light pos="0 0 3.5" dir="0 0 -1"/>
+    <body name="right_hand_base" gravcomp="1">
+      <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1"/>
+      <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1"/>
+      <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/>
+      <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/>
+      <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/>
+      <geom name="collision_hand_right_palm_0" size="0.01 0.04 0.04" pos="0 -0.1 0" type="box" group="3" density="0" rgba="0 1 0 1"/>
+      <geom type="mesh" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
+      <site name="right_palm" pos="0 -0.06 0" quat="0 0 -0.707107 0.707107" size="0.01 0.02 0.03" type="box"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="right_thumb_proximal_base" pos="-0.01696 -0.0691 -0.02045" quat="0.499998 0.5 -0.5 0.500002">
+        <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="0.0001" frictionloss="0.0001"/>
+      <geom name="right_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/inspire/bimanual/unplug/task_info.json b/processed/oakink/inspire/bimanual/unplug/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c581c43229106220773eda7e40175101ca8e98
--- /dev/null
+++ b/processed/oakink/inspire/bimanual/unplug/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "unplug",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/inspire/bimanual/wipe_board/0/trajectory_ikrollout.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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index 1b2d7d707eabdf63ee6ca0a7008a5c715974eb7c..e0ddf4d6289c1256fa6407e7177efb502acad9e6 100644
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diff --git a/processed/oakink/schunk/bimanual/complete_data.csv b/processed/oakink/schunk/bimanual/complete_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73ebf882ba2f94e8972727951f149f2cbacdda13
--- /dev/null
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@@ -0,0 +1,8 @@
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+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_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"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/pour_tube/scene_eq.xml b/processed/oakink/schunk/bimanual/pour_tube/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2f57d21c2ca2d69fe3dc072e8a34325aa61ae817
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/scene_eq.xml
@@ -0,0 +1,993 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0011@00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0011@00003/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0011@00003/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0011@00003/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0011@00003/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0011@00003/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0202@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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_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="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="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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_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="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="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <equality>
+    <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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/pour_tube/task_info.json b/processed/oakink/schunk/bimanual/pour_tube/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e450abb2f48ec5439120d6313824c3657ab0a81
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/pour_tube/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "pour_tube",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..294ceea5ebc028339e298fe7c8bbf67aa3c77062
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07856be26f70ab61bbf4b09e575a498c692aa8d5b2d5e9649c78f9c2ceab6c63
+size 305446
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/stir_beaker/0/trajectory_kinematic.npz
new file mode 100644
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </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">
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+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
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+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
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+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
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+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
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+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
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+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
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+                    <geom type="mesh" mesh="right_f11"/>
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+                      <geom type="mesh" mesh="right_f12"/>
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+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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_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="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="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="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
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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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/schunk/bimanual/stir_beaker/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db8aba5ab0d8d8456100acfdbf3dd9f41680bd43
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/scene_eq.xml
@@ -0,0 +1,993 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/stir_beaker/task_info.json b/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c0b5371a189e718d331a97ae2cfc397582f2ed
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/stir_beaker/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "stir_beaker",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/summary.csv b/processed/oakink/schunk/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e7d56710c078ed5e58c19b27e97a0673b4091f36
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/summary.csv
@@ -0,0 +1,8 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
+wipe_board,1,1,1.0,0.05393866736283717,0.0,0.12326596823502291,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.05393866736283717,0.12326596823502291,True
+pour_tube,1,0,0.0,0.15887121820661837,0.0,0.9509019022743905,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15887121820661837,0.9509019022743905,False
+uncap_alcohol_burner,1,1,1.0,0.045550498629558595,0.0,0.24724278958913334,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.045550498629558595,0.24724278958913334,True
+lift_board,1,0,0.0,0.2105216674737201,0.0,0.44507956441611435,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.2105216674737201,0.44507956441611435,False
+stir_beaker,1,0,0.0,0.19690429360097444,0.0,1.0168560692490665,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.19690429360097444,1.0168560692490665,False
+pick_spoon_bowl,1,0,0.0,0.15051765560534033,0.0,0.7945360777847834,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15051765560534033,0.7945360777847834,False
+unplug,1,1,1.0,0.04176855358685088,0.0,0.41877909025073384,0.0,oakink,schunk,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.04176855358685088,0.41877909025073384,True
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2075aca650bb56fd613ec3cbea55e127783529d7
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39bb1d860227bc79c80ddff0b0835d2af262eb599fdc9850a3841ab7023a54f
+size 53590
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c2efeee7dc9fe6a4f5c729a581900e0c210425e
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d905bea055d19d7b3ccb504a59f35d57e19ae6b352fe668afb19f502d5161df
+size 225804
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a9f4a8ca2b3ed2f8463429adfc1888183edcc2ba
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873095238a0f4b2c30565e50a6af547182379e29af85160cafb519e5b400f05d
+size 328834
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_mjwpeq.npz b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8289ce7064376d378b9f3d5a9dc6bf8f0792ae3c
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31018325e4bbfc43fcb273aad6ebf494015c8c7142142c9e402f4c4b87a67de2
+size 328834
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_ik.mp4 b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4587771a5993a4449e28c6caac1fc382f10419af
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d0bfc81e889f9b68bb9f7f618cd8d2b286e5d0c2bedc82fae99d17a158afee
+size 73601
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b253f5efbbc0fe8201b46525b477be0749bcbba8
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b48fdeb30c03907948328e327ad059c7dcd360857b572a768e97f476d14e6f2c
+size 114875
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_mjwpeq.mp4 b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53bc57f5214941d868fb58e5e85f19186651351c
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ecffce23720ea0fd5e22c2cb2c4289ced4b36f99827ff670863a9806a571ab
+size 113321
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene.xml b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2508b8b415a6f035a602d9e121e0683798fea6bd
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene.xml
@@ -0,0 +1,1099 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0206@00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_index_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_index_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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_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="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="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_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_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="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="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d7922b000cfe87c786a440128892cbca6842556d
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -0,0 +1,1122 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0206@00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_3" name="collision_hand_left_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_4" name="collision_hand_left_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_5" name="collision_hand_left_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_1" name="collision_hand_left_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4b13e4358000b64b3c5d81f1f795ad5cfeffdc
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/uncap_alcohol_burner/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "uncap_alcohol_burner",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a5b8bed671872979508db4f09b433bc07a17384
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3c01ff4c24024d09674f0bd26b32c4d87529f516e557697658f7b058c0112fc
+size 207238
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c138180597984ec919599e2b9ff02b08b04c0b20
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a59fe0751d8b2d136d48097c53d36f07da7ddc6e9f882f38f1473b484841c89
+size 868332
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9691b98a153e888647141df47afe14dfb948c5be
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e743fcf250f881d1d3d41dad068aecdfdbc7d9347db6e0210acc53435c3fd9
+size 1191178
diff --git a/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwpeq.npz b/processed/oakink/schunk/bimanual/unplug/0/trajectory_mjwpeq.npz
new file mode 100644
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diff --git a/processed/oakink/schunk/bimanual/unplug/0/visualization_ik.mp4 b/processed/oakink/schunk/bimanual/unplug/0/visualization_ik.mp4
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diff --git a/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwp.mp4
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diff --git a/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwpeq.mp4 b/processed/oakink/schunk/bimanual/unplug/0/visualization_mjwpeq.mp4
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diff --git a/processed/oakink/schunk/bimanual/unplug/scene.xml b/processed/oakink/schunk/bimanual/unplug/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a3bfa7d51a052cd4201c44ff29b1c5810eaea0cb
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/scene.xml
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </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">
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+                    <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">
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+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
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+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </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">
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+                  <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">
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+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
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+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </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">
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+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
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+    <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"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_2" geom2="right_object_1" name="collision_hand_left_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_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"/>
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+    <pair geom1="collision_hand_left_index_2" geom2="right_object_6" name="collision_hand_left_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_7" name="collision_hand_left_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_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"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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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="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_2" name="collision_hand_left_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_3" name="collision_hand_left_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_4" name="collision_hand_left_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_5" name="collision_hand_left_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_6" name="collision_hand_left_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_7" name="collision_hand_left_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/unplug/scene_eq.xml b/processed/oakink/schunk/bimanual/unplug/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bb5f2dd871cbe85eed47696a643269756daeebbc
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/scene_eq.xml
@@ -0,0 +1,1294 @@
+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
+
+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_0" name="collision_hand_left_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_1" name="collision_hand_left_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_2" name="collision_hand_left_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_3" name="collision_hand_left_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_4" name="collision_hand_left_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_5" name="collision_hand_left_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_6" name="collision_hand_left_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="right_object_7" name="collision_hand_left_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_0" name="collision_hand_left_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_2" name="collision_hand_left_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_6" name="collision_hand_left_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_1" name="collision_hand_left_pinky_2_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_2" name="collision_hand_left_pinky_2_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_3" name="collision_hand_left_pinky_2_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_4" name="collision_hand_left_pinky_2_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_5" name="collision_hand_left_pinky_2_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_6" name="collision_hand_left_pinky_2_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_7" name="collision_hand_left_pinky_2_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <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"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/unplug/task_info.json b/processed/oakink/schunk/bimanual/unplug/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ac5e2ff5aa60dc0cb2f5416831ed9ea50f3a13
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/unplug/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "unplug",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e3bd5b34316839cad305a02d420fe08886766fae731f2c41812a17b71bf953
+size 180838
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f3a5ba39f05f99f0ac510b9b7fb44ff1becd052
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 757932
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwp.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7092c3cb71d6aa3cff6a5ef20c8fc75a99590fce
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9476cfcae2185e0c1f4a42369b7f2cdc3164d3a4ef1669ae4b7549196e01d8
+size 1042498
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwpeq.npz b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..278b6f933d5c5034674220ab9548bce823e943ba
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1042498
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/visualization_ik.mp4 b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..acc20dd4cd617813597aeee3620e282a8b07a038
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf26752719210cc59d891e7a70bfff70d9d170831a7d2a753b7d090bfc24f51
+size 208226
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwp.mp4 b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4920902d778fcbe88a75887a977739f3a2b4c744
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9edf786b5de00b002c20858d3f7e9da2dc0ac1c8fdb181df8015d7117b0110
+size 369711
diff --git a/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwpeq.mp4 b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba868c32db10db41b443b592858d3b44943b4881
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f5dafb27d7befef71f73df0250e89d4d4e34a4b4fe70fb1fac92c69f522ffa
+size 293989
diff --git a/processed/oakink/schunk/bimanual/wipe_board/scene.xml b/processed/oakink/schunk/bimanual/wipe_board/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..88b3a99bc3e11d2cc7c1e33e3f059781c256ad40
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/scene.xml
@@ -0,0 +1,970 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_1" geom2="right_object_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="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="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"/>
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+    <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"/>
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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="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_0" name="collision_hand_right_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_1" name="collision_hand_right_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_2" name="collision_hand_right_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_3" name="collision_hand_right_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_4" name="collision_hand_right_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_5" name="collision_hand_right_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_6" name="collision_hand_right_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_2" geom2="left_object_7" name="collision_hand_right_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_1" name="collision_hand_left_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_3" name="collision_hand_left_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_4" name="collision_hand_left_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_5" name="collision_hand_left_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </contact>
+
+  <actuator>
+    <general name="right_pos_x_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/wipe_board/scene_eq.xml b/processed/oakink/schunk/bimanual/wipe_board/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b569caf46fe5c01cb704ba606d451a7c4f3fd554
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/scene_eq.xml
@@ -0,0 +1,993 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_d11" content_type="model/obj" file="robots/schunk/assets/d11.obj"/>
+    <mesh name="right_d12" content_type="model/obj" file="robots/schunk/assets/d12.obj"/>
+    <mesh name="right_d13" content_type="model/obj" file="robots/schunk/assets/d13.obj"/>
+    <mesh name="right_f11" content_type="model/obj" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="right_f12" content_type="model/obj" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="right_finger_tip" content_type="model/obj" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="right_f21" content_type="model/obj" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="right_f22_f32" content_type="model/obj" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="right_f31" content_type="model/obj" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="right_f41" content_type="model/obj" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="right_f42" content_type="model/obj" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="left_d11" file="robots/schunk/assets/d11_left.obj"/>
+    <mesh name="left_d12" file="robots/schunk/assets/d12_left.obj"/>
+    <mesh name="left_d13" file="robots/schunk/assets/d13_left.obj"/>
+    <mesh name="left_f11" file="robots/schunk/assets/f11.obj"/>
+    <mesh name="left_f12" file="robots/schunk/assets/f12.obj"/>
+    <mesh name="left_finger_tip" file="robots/schunk/assets/finger_tip.obj"/>
+    <mesh name="left_f21" file="robots/schunk/assets/f21.obj"/>
+    <mesh name="left_f22_f32" file="robots/schunk/assets/f22_f32.obj"/>
+    <mesh name="left_f31" file="robots/schunk/assets/f31.obj"/>
+    <mesh name="left_f41" file="robots/schunk/assets/f41.obj"/>
+    <mesh name="left_f42" file="robots/schunk/assets/f42.obj"/>
+    <mesh name="right_0" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="left_0" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0054@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_base_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="-0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="-0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="right_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="right_hand_z" pos="-0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="right_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 -1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="right_hand_a" pos="0 0 0.04596" quat="0.329787 0.625494 0.329779 0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="right_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="0 0.9704"/>
+                    <geom type="mesh" mesh="right_d11"/>
+                    <geom name="collision_hand_right_thumb_2" size="0.01 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_b" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="right_hand_j3" pos="0 0 0" axis="0 0 1" range="0 0.98506"/>
+                      <geom type="mesh" mesh="right_d12"/>
+                      <geom name="collision_hand_right_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_c" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j4" pos="0 0 0" axis="0 0 1" range="0 1.406"/>
+                        <geom type="mesh" mesh="right_d13"/>
+                        <geom name="collision_hand_right_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_right_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_right_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_e2" pos="0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="right_hand_block_joint" pos="0 0 0" axis="0 0 1" range="0 0.98786"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="0.0032 -0.0083 0.048" type="box"/>
+                  <body name="right_hand_virtual_j" pos="0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_j" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="right_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f31"/>
+                      <geom name="collision_hand_right_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_n" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="right_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f22_f32"/>
+                        <geom name="collision_hand_right_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_r" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_hand_virtual_i" pos="0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="right_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="0 0.5829"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="right_hand_i" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="right_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="right_f41"/>
+                      <geom name="collision_hand_right_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_m" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="right_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="right_f42"/>
+                        <geom name="collision_hand_right_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="right_hand_q" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="right_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="right_finger_tip"/>
+                          <geom name="collision_hand_right_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_right_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_right_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_virtual_l" pos="-0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="right_hand_index_spread" pos="0 0 0" axis="0 0 1" range="0 0.28833"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="right_hand_l" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="right_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="right_f11"/>
+                    <geom name="collision_hand_right_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_p" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="right_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_f12"/>
+                      <geom name="collision_hand_right_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="right_hand_t" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="right_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="right_finger_tip"/>
+                        <geom name="collision_hand_right_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="right_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_right_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_right_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="right_hand_k" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="right_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="right_f21"/>
+                  <geom name="collision_hand_right_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="right_hand_o" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="right_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="right_f22_f32"/>
+                    <geom name="collision_hand_right_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="right_hand_s" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="right_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="right_finger_tip"/>
+                      <geom name="collision_hand_right_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="right_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_right_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_right_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="left_pos_x_link">
+      <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+      <joint name="left_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
+      <body name="left_pos_y_link">
+        <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+        <joint name="left_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="left_pos_z_link">
+          <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+          <joint name="left_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="left_rot_z_link">
+            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+            <joint name="left_rot_z" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="left_rot_x_link">
+              <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01"/>
+              <joint name="left_rot_x" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="left_hand_link">
+                <inertial pos="-6.48554e-05 -0.00451484 0.127324" quat="0.496466 0.503155 -0.508367 0.491853" mass="0.6112" diaginertia="0.0865419 0.0593417 0.0588699"/>
+                <joint name="left_rot_y" pos="0 0 0" axis="0 1 0" range="-6.2 6.2"/>
+                <geom size="0.045 0.0225" pos="0 0 -0.009" type="cylinder"/>
+                <geom size="0.025 0.025 0.013" pos="0 0 0.013" type="box"/>
+                <geom size="0.0292 0.019 0.03205" pos="0.00573 -0.00963 0.05747" type="box"/>
+                <geom size="0.021 0.019 0.0075" pos="0.01 -0.00963 0.096" type="box"/>
+                <geom size="0.01" pos="-3.09209e-07 -0.01634 0.11" quat="0.500048 0.499952 -0.5 0.5"/>
+                <geom name="collision_hand_left_palm_0" size="0.03 0.02 0.04" pos="0 -0.01 0.06" type="box" group="3" rgba="0 1 0 1"/>
+                <site name="left_palm" pos="0 0 0" quat="0.707107 0 0 0.707107" size="0.01 0.02 0.03" type="box"/>
+                <body name="left_hand_thumb_opp" pos="0.0169 0.01313 0" quat="0.700986 -0.0923056 0.0922868 0.701129">
+                  <inertial pos="0 0.002024 0.178636" quat="0.481281 0.518043 0.481281 0.518043" mass="0.0739" diaginertia="0.00165295 0.00110705 0.00103"/>
+                  <joint name="left_hand_Thumb_Opposition" pos="0 0 0" axis="0 0 1" range="0 0.9879"/>
+                  <geom size="0.012 0.0094 0.004" pos="0 0 0.02842" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="0.0125 0 0.04292" type="box"/>
+                  <geom size="0.003 0.012 0.0165" pos="-0.0125 0 0.04292" type="box"/>
+                  <body name="left_hand_thumb_proximal" pos="0 0 0.04596" quat="0.329787 -0.625494 0.329779 -0.625494">
+                    <inertial pos="0.240205 0.010733 0.00019" quat="0.0202941 0.706815 -0.0202941 0.706815" mass="0.41222" diaginertia="0.01796 0.016832 0.00408805"/>
+                    <joint name="left_hand_Thumb_Flexion" pos="0 0 0" axis="0 0 1" range="-0.9704 0"/>
+                    <geom type="mesh" mesh="left_d11"/>
+                    <geom name="collision_hand_left_thumb_2" size="0.01 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_intermediate" pos="0.0485 0 0">
+                      <inertial pos="0.123157 -0.008382 -2.7e-05" quat="0.524056 0.524056 0.474727 0.474727" mass="0.08224" diaginertia="0.00139495 0.00103 0.000885049"/>
+                      <joint name="left_hand_j3" pos="0 0 0" axis="0 0 1" range="-0.98506 0"/>
+                      <geom type="mesh" mesh="left_d12"/>
+                      <geom name="collision_hand_left_thumb_1" size="0.008 0.015" pos="0.015 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_thumb_distal" pos="0.03 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j4" pos="0 0 0" axis="0 0 1" range="-1.406 0"/>
+                        <geom type="mesh" mesh="left_d13"/>
+                        <geom name="collision_hand_left_thumb_0" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <site name="left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="track_hand_left_thumb_tip" pos="0.02 0 0"/>
+                        <site name="trace_hand_left_thumb_tip" pos="0.02 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_block" pos="-0.0184 -0.00713 0.0375">
+                  <inertial pos="0.145071 -0.037868 0.323449" quat="0.951685 0.143658 0.0293436 -0.26981" mass="0.46184" diaginertia="0.019814 0.0171408 0.00778522"/>
+                  <joint name="left_hand_block_joint" pos="0 0 0" axis="0 0 1" range="-0.98786 0"/>
+                  <geom size="0.0123 0.0175 0.0282" pos="-0.016 0 0.02" type="box"/>
+                  <geom size="0.006 0.009 0.0105" pos="-0.0032 -0.0083 0.048" type="box"/>
+                  <body name="left_hand_ring_spread_link" pos="-0.003855 -0.006 0.0655" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003805 0.000386 0.100079" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_ring_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_ring_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.258283 -0.00154 0" quat="0.0178138 0.706882 -0.0178138 0.706882" mass="0.1377" diaginertia="0.00426 0.00411908 0.000540922"/>
+                      <joint name="left_hand_Ring_Finger" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f31"/>
+                      <geom name="collision_hand_left_ring_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_ring_intermediate" pos="0.05004 0 0">
+                        <inertial pos="0.166851 -0.00362 0" quat="0.5 0.5 0.5 0.5" mass="0.04207" diaginertia="0.00047 0.0004 0.00019"/>
+                        <joint name="left_hand_j12" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f22_f32"/>
+                        <geom name="collision_hand_left_ring_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_ring_distal" pos="0.032 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j16" pos="0 0 0" axis="0 0 1" range="0 1.395"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_ring_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_ring_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_ring_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_ring_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_hand_finger_spread_link" pos="-0.025355 -0.006 0.056" quat="0.500048 -0.5 -0.5 -0.499952">
+                    <inertial pos="0.003653 4.4e-05 0.100085" quat="0.69352 0.69352 -0.13795 0.13795" mass="0.02377" diaginertia="0.000214142 0.000185858 0.00011"/>
+                    <joint name="left_hand_Finger_Spread" pos="0 0 0" axis="0 0 1" range="-0.5829 0"/>
+                    <geom size="0.01" pos="0 0 -0.00321"/>
+                    <body name="left_hand_pinky_proximal" quat="0.707141 0.707073 0 0">
+                      <inertial pos="0.232293 0.00622 0" quat="0.00793951 0.707062 -0.00793951 0.707062" mass="0.12544" diaginertia="0.00328 0.00316135 0.000488652"/>
+                      <joint name="left_hand_Pinky" pos="0 0 0" axis="0 0 1" range="0 0.98175"/>
+                      <geom type="mesh" mesh="left_f41"/>
+                      <geom name="collision_hand_left_pinky_2" size="0.008 0.02227" pos="0.02227 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_pinky_intermediate" pos="0.04454 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-06 2e-06 8e-07"/>
+                        <joint name="left_hand_j13" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                        <geom type="mesh" mesh="left_f42"/>
+                        <geom name="collision_hand_left_pinky_1" size="0.008 0.011" pos="0.011 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                        <body name="left_hand_pinky_distal" pos="0.022 0 0">
+                          <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                          <joint name="left_hand_j17" pos="0 0 0" axis="0 0 1" range="0 1.3971"/>
+                          <geom type="mesh" mesh="left_finger_tip"/>
+                          <geom name="collision_hand_left_pinky_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                          <site name="left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="track_hand_left_pinky_tip" pos="0.01 0 0"/>
+                          <site name="trace_hand_left_pinky_tip" pos="0.01 0 0"/>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_index_spread_link" pos="0.025 -0.01313 0.11" quat="0.500048 0.499952 -0.5 0.5">
+                  <inertial pos="0.003634 0.000206 -0.09885" quat="0.69352 0.69352 0.13795 -0.13795" mass="0.02383" diaginertia="0.000214142 0.000185858 0.00011"/>
+                  <joint name="left_hand_index_spread" pos="0 0 0" axis="0 0 1" range="-0.28833 0"/>
+                  <geom size="0.01" pos="0 0 0.00121"/>
+                  <body name="left_hand_index_proximal" quat="0.707141 -0.707073 0 0">
+                    <inertial pos="0.261673 0.003521 0" quat="-0.00373415 0.707097 0.00373415 0.707097" mass="0.13003" diaginertia="0.00344 0.00335032 0.000509683"/>
+                    <joint name="left_hand_Index_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                    <geom type="mesh" mesh="left_f11"/>
+                    <geom name="collision_hand_left_index_2" size="0.008 0.02402" pos="0.02402 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_index_intermediate" pos="0.04804 0 0">
+                      <inertial pos="0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.024" diaginertia="1.96667e-06 1.96667e-06 1.96667e-06"/>
+                      <joint name="left_hand_Index_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_f12"/>
+                      <geom name="collision_hand_left_index_1" size="0.008 0.013" pos="0.013 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                      <body name="left_hand_index_distal" pos="0.026 0 0">
+                        <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                        <joint name="left_hand_j14" pos="0 0 0" axis="0 0 1" range="0 1.394"/>
+                        <geom type="mesh" mesh="left_finger_tip"/>
+                        <geom name="collision_hand_left_index_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                        <site name="left_index_tip" pos="0.01 0 0"/>
+                        <site name="track_hand_left_index_tip" pos="0.01 0 0"/>
+                        <site name="trace_hand_left_index_tip" pos="0.01 0 0"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+                <body name="left_hand_middle_proximal" pos="0 -0.01313 0.11" quat="0.707107 -3.40567e-05 -0.707107 3.40567e-05">
+                  <inertial pos="0.271122 0.00413 0" quat="-0.003335 0.707099 0.003335 0.707099" mass="0.13474" diaginertia="0.0038 0.00370028 0.000519717"/>
+                  <joint name="left_hand_Middle_Finger_Proximal" pos="0 0 0" axis="0 0 1" range="0 0.79849"/>
+                  <geom type="mesh" mesh="left_f21"/>
+                  <geom name="collision_hand_left_middle_2" size="0.008 0.02502" pos="0.02502 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                  <body name="left_hand_middle_intermediate" pos="0.05004 0 0">
+                    <inertial pos="0.16683 -0.003774 0" quat="0.5 0.5 0.5 0.5" mass="0.0422" diaginertia="0.00047 0.0004 0.0002"/>
+                    <joint name="left_hand_Middle_Finger_Distal" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                    <geom type="mesh" mesh="left_f22_f32"/>
+                    <geom name="collision_hand_left_middle_1" size="0.008 0.016" pos="0.016 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
+                    <body name="left_hand_middle_distal" pos="0.032 0 0">
+                      <inertial pos="0.007 0 0" quat="0.5 0.5 0.5 0.5" mass="0.02" diaginertia="2e-05 2e-05 1e-05"/>
+                      <joint name="left_hand_j15" pos="0 0 0" axis="0 0 1" range="0 1.334"/>
+                      <geom type="mesh" mesh="left_finger_tip"/>
+                      <geom name="collision_hand_left_middle_0" size="0.01" pos="0.01 0 0" group="3" rgba="0 1 0 1"/>
+                      <site name="left_middle_tip" pos="0.01 0 0"/>
+                      <site name="track_hand_left_middle_tip" pos="0.01 0 0"/>
+                      <site name="trace_hand_left_middle_tip" pos="0.01 0 0"/>
+                    </body>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_0" name="collision_hand_right_ring_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_1" name="collision_hand_right_ring_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_2" name="collision_hand_right_ring_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_3" name="collision_hand_right_ring_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_4" name="collision_hand_right_ring_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_5" name="collision_hand_right_ring_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_6" name="collision_hand_right_ring_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_2" geom2="left_object_7" name="collision_hand_right_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_index_0" name="collision_hand_right_ring_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_ring_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_0" name="collision_hand_right_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_1" name="collision_hand_right_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_2" name="collision_hand_right_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_3" name="collision_hand_right_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_4" name="collision_hand_right_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_5" name="collision_hand_right_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_6" name="collision_hand_right_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_2" geom2="left_object_7" name="collision_hand_right_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_index_0" name="collision_hand_right_pinky_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_pinky_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_0" name="collision_hand_right_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_1" name="collision_hand_right_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_2" name="collision_hand_right_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_3" name="collision_hand_right_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_4" name="collision_hand_right_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_5" name="collision_hand_right_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_6" name="collision_hand_right_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_2" geom2="left_object_7" name="collision_hand_right_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <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="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_2" geom2="left_object_7" name="collision_hand_left_ring_2_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_left_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="right_object_0" name="collision_hand_left_pinky_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_0" name="collision_hand_left_pinky_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_1" name="collision_hand_left_pinky_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_2" name="collision_hand_left_pinky_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_3" name="collision_hand_left_pinky_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_4" name="collision_hand_left_pinky_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_5" name="collision_hand_left_pinky_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_6" name="collision_hand_left_pinky_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_2" geom2="left_object_7" name="collision_hand_left_pinky_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_left_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_0" name="collision_hand_left_index_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_1" name="collision_hand_left_index_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_2" name="collision_hand_left_index_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_3" name="collision_hand_left_index_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_4" name="collision_hand_left_index_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_5" name="collision_hand_left_index_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_6" name="collision_hand_left_index_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_2" geom2="left_object_7" name="collision_hand_left_index_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="right_object_0" name="collision_hand_left_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_0" name="collision_hand_left_middle_2_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_1" name="collision_hand_left_middle_2_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_2" name="collision_hand_left_middle_2_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_3" name="collision_hand_left_middle_2_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_4" name="collision_hand_left_middle_2_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_5" name="collision_hand_left_middle_2_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_6" name="collision_hand_left_middle_2_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_2" geom2="left_object_7" name="collision_hand_left_middle_2_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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_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_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_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_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_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_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="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_y_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_pos_z_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_z_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_x_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_rot_y_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="right_thumb_opposition_position" joint="right_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="right_thumb_flexion_position" joint="right_hand_Thumb_Flexion" ctrlrange="0 0.9704"/>
+    <general name="right_thumb_intermediate_position" joint="right_hand_j3" ctrlrange="0 0.98506"/>
+    <general name="right_thumb_distal_position" joint="right_hand_j4" ctrlrange="0 1.406"/>
+    <general name="right_index_proximal_position" joint="right_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_index_intermediate_position" joint="right_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_index_distal_position" joint="right_hand_j14" ctrlrange="0 1.394"/>
+    <general name="right_index_spread_position" joint="right_hand_index_spread" ctrlrange="0 0.28833"/>
+    <general name="right_middle_proximal_position" joint="right_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="right_middle_intermediate_position" joint="right_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="right_middle_distal_position" joint="right_hand_j15" ctrlrange="0 1.334"/>
+    <general name="right_block_position" joint="right_hand_block_joint" ctrlrange="0 0.98786"/>
+    <general name="right_ring_spread_position" joint="right_hand_ring_spread" ctrlrange="0 0.28833"/>
+    <general name="right_ring_proximal_position" joint="right_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="right_ring_intermediate_position" joint="right_hand_j12" ctrlrange="0 1.334"/>
+    <general name="right_ring_distal_position" joint="right_hand_j16" ctrlrange="0 1.395"/>
+    <general name="right_finger_spread_position" joint="right_hand_Finger_Spread" ctrlrange="0 0.5829"/>
+    <general name="right_pinky_proximal_position" joint="right_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="right_pinky_intermediate_position" joint="right_hand_j13" ctrlrange="0 1.334"/>
+    <general name="right_pinky_distal_position" joint="right_hand_j17" ctrlrange="0 1.3971"/>
+    <general name="left_pos_x_position" joint="left_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_y_position" joint="left_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_pos_z_position" joint="left_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_z_position" joint="left_rot_z" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_x_position" joint="left_rot_x" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_rot_y_position" joint="left_rot_y" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
+    <general name="left_thumb_opposition_position" joint="left_hand_Thumb_Opposition" ctrlrange="0 0.9879"/>
+    <general name="left_thumb_flexion_position" joint="left_hand_Thumb_Flexion" ctrlrange="-0.9704 0"/>
+    <general name="left_thumb_intermediate_position" joint="left_hand_j3" ctrlrange="-0.98506 0"/>
+    <general name="left_thumb_distal_position" joint="left_hand_j4" ctrlrange="-1.406 0"/>
+    <general name="left_index_proximal_position" joint="left_hand_Index_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_index_intermediate_position" joint="left_hand_Index_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_index_distal_position" joint="left_hand_j14" ctrlrange="0 1.394"/>
+    <general name="left_index_spread_position" joint="left_hand_index_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_middle_proximal_position" joint="left_hand_Middle_Finger_Proximal" ctrlrange="0 0.79849"/>
+    <general name="left_middle_intermediate_position" joint="left_hand_Middle_Finger_Distal" ctrlrange="0 1.334"/>
+    <general name="left_middle_distal_position" joint="left_hand_j15" ctrlrange="0 1.334"/>
+    <general name="left_block_position" joint="left_hand_block_joint" ctrlrange="-0.98786 0"/>
+    <general name="left_ring_spread_position" joint="left_hand_ring_spread" ctrlrange="-0.28833 0"/>
+    <general name="left_ring_proximal_position" joint="left_hand_Ring_Finger" ctrlrange="0 0.98175"/>
+    <general name="left_ring_intermediate_position" joint="left_hand_j12" ctrlrange="0 1.334"/>
+    <general name="left_ring_distal_position" joint="left_hand_j16" ctrlrange="0 1.395"/>
+    <general name="left_finger_spread_position" joint="left_hand_Finger_Spread" ctrlrange="-0.5829 0"/>
+    <general name="left_pinky_proximal_position" joint="left_hand_Pinky" ctrlrange="0 0.98175"/>
+    <general name="left_pinky_intermediate_position" joint="left_hand_j13" ctrlrange="0 1.334"/>
+    <general name="left_pinky_distal_position" joint="left_hand_j17" ctrlrange="0 1.3971"/>
+  </actuator>
+</mujoco>
diff --git a/processed/oakink/schunk/bimanual/wipe_board/task_info.json b/processed/oakink/schunk/bimanual/wipe_board/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c442da9da4b4abcff1f66bdea8158a1837fe9b6
--- /dev/null
+++ b/processed/oakink/schunk/bimanual/wipe_board/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "wipe_board",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/complete_data.csv b/processed/oakink/xhand/bimanual/complete_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b4a4edda72bffffa4847f848a5d21b36c82b7fe
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/complete_data.csv
@@ -0,0 +1,8 @@
+dataset,robot_type,hand_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
+oakink,xhand,bimanual,mjwpeq,wipe_board,0,wipe_board/0,0.07194900048282481,0.21155827392390056,0.07194900048282481,0.004820300819360272,0.21155827392390056,0.027625456405497097,True,0.1,0.5
+oakink,xhand,bimanual,mjwpeq,pour_tube,0,pour_tube/0,0.15723055028374125,1.009022457077967,0.10502229125215733,0.2094388093153252,0.7594869477876413,1.2585579663682926,False,0.1,0.5
+oakink,xhand,bimanual,mjwpeq,uncap_alcohol_burner,0,uncap_alcohol_burner/0,0.07352785164180735,0.190732023530447,0.1423650800482501,0.004690623235364588,0.2614518024070084,0.1200122446538856,True,0.1,0.5
+oakink,xhand,bimanual,mjwpeq,lift_board,0,lift_board/0,0.2017378765468675,0.31506911431131934,0.2017378765468675,2.3147104208745244e-05,0.31506911431131934,1.2776680421642567e-05,False,0.1,0.5
+oakink,xhand,bimanual,mjwpeq,stir_beaker,0,stir_beaker/0,0.09992180188864296,0.43450300648349427,0.19013736826442879,0.009706235512857129,0.7701531256634376,0.09885288730355092,True,0.1,0.5
+oakink,xhand,bimanual,mjwpeq,pick_spoon_bowl,0,pick_spoon_bowl/0,0.07216478837558658,0.36455831294699426,0.13546600254397848,0.00886357420719468,0.696378116456334,0.032738509437654495,True,0.1,0.5
+oakink,xhand,bimanual,mjwpeq,unplug,0,unplug/0,0.03539984810083745,0.11705026496839677,0.06353790625791621,0.0072617899437586895,0.13001966319176583,0.1040808667450277,True,0.1,0.5
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new file mode 100644
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index d1a24e7ed8c409c3cd07f09ac21dfd4100c98daf..70d7be837fd3b7f1e8506b88f9824a913de6a482 100644
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+++ b/processed/oakink/xhand/bimanual/lift_board/0/trajectory_kinematic.npz
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index dc19753c421bb5e177efce450ad880fa473534bd..f0dec257eaa86c3b5d2040b327eca82abf64f4dd 100644
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+
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+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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" content_type="model/obj" file="objects/O02@0011@00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj"/>
+    <mesh name="right_2" content_type="model/obj" file="objects/O02@0011@00003/convex/2.obj"/>
+    <mesh name="right_3" content_type="model/obj" file="objects/O02@0011@00003/convex/3.obj"/>
+    <mesh name="right_4" content_type="model/obj" file="objects/O02@0011@00003/convex/4.obj"/>
+    <mesh name="right_5" content_type="model/obj" file="objects/O02@0011@00003/convex/5.obj"/>
+    <mesh name="right_6" content_type="model/obj" file="objects/O02@0011@00003/convex/6.obj"/>
+    <mesh name="right_7" content_type="model/obj" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="left_0" content_type="model/obj" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0202@00002/visual.obj"/>
+  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/pour_tube/scene_eq.xml b/processed/oakink/xhand/bimanual/pour_tube/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9c33c868c9a7396c0225f39d2d21f71d71f92eaa
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/scene_eq.xml
@@ -0,0 +1,817 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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" content_type="model/obj" file="objects/O02@0011@00003/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0011@00003/convex/1.obj"/>
+    <mesh name="right_2" content_type="model/obj" file="objects/O02@0011@00003/convex/2.obj"/>
+    <mesh name="right_3" content_type="model/obj" file="objects/O02@0011@00003/convex/3.obj"/>
+    <mesh name="right_4" content_type="model/obj" file="objects/O02@0011@00003/convex/4.obj"/>
+    <mesh name="right_5" content_type="model/obj" file="objects/O02@0011@00003/convex/5.obj"/>
+    <mesh name="right_6" content_type="model/obj" file="objects/O02@0011@00003/convex/6.obj"/>
+    <mesh name="right_7" content_type="model/obj" file="objects/O02@0011@00003/convex/7.obj"/>
+    <mesh name="left_0" content_type="model/obj" file="objects/O02@0202@00002/convex/0.obj"/>
+    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0011@00003/visual.obj"/>
+    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0202@00002/visual.obj"/>
+  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0203067 -0.0419832 -0.0142064" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0159233 0.029516 0.0106019" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.0317155 0.0209083 -0.0104862" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="-0.0308593 0.0204301 -0.0260402" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="-0.0284179 0.0366054 -0.0523723" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.00669959 -0.0069639 -0.0235738" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0118917 0.00691844 -0.0243164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0197026 0.00954464 -0.0491164" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/pour_tube/task_info.json b/processed/oakink/xhand/bimanual/pour_tube/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5080355eff88713a3e378deaec58f7330364b3
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/pour_tube/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "pour_tube",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic.npz
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwp.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2642f3c4d6153fb0fe20f92092193e87dd00d51d
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwpeq.npz b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83a336e603654e7ec3a4d17df950f34ce5896c09
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_ik.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3e6a846111a45f8c211e8fb8d88885f422fa989
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwp.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwp.mp4
new file mode 100644
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--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwpeq.mp4 b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4606cd402fde85252bf3fe092005a373435e7963
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/processed/oakink/xhand/bimanual/stir_beaker/scene.xml b/processed/oakink/xhand/bimanual/stir_beaker/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..292a9482adaf8bdeffed1e00fe8d30890e00cca8
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/scene.xml
@@ -0,0 +1,794 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/stir_beaker/scene_eq.xml b/processed/oakink/xhand/bimanual/stir_beaker/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c6aa71f64c2f75a9ba50339bb771be96785734bd
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/scene_eq.xml
@@ -0,0 +1,817 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/O02@0033@00001/convex/0.obj"/>
+    <mesh name="left_0" file="objects/C11001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/C11001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/C11001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/C11001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/C11001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/C11001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/C11001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/C11001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0033@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/C11001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.00540756 -0.000501749 -0.0064119" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.00821814 0.00740494 -0.0133851" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0090497 0.0269957 -0.00221597" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0161041 0.054549 -0.0138048" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.00984918 0.0671415 0.00104707" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0382117 0.0186336 0.0196904" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0342992 -0.0246372 0.0122467" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0293652 -0.0291073 -0.0180785" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.0342168 -0.0184245 -0.0392152" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/stir_beaker/task_info.json b/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..52bb317097998fbb1f5ebf85025e2ae1ad0a76c5
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/stir_beaker/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "stir_beaker",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/summary.csv b/processed/oakink/xhand/bimanual/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc91bc8c694e432198b97eba72a99b2080c05d80
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/summary.csv
@@ -0,0 +1,8 @@
+task,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,dataset,robot_type,hand_type,pos_err_threshold,quat_err_threshold,timestamp,data_type,data_id,obj_pos_err,obj_quat_err,success
+wipe_board,1,1,1.0,0.07194900048282481,0.0,0.21155827392390056,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07194900048282481,0.21155827392390056,True
+pour_tube,1,0,0.0,0.15723055028374125,0.0,1.009022457077967,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.15723055028374125,1.009022457077967,False
+uncap_alcohol_burner,1,1,1.0,0.07352785164180735,0.0,0.190732023530447,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07352785164180735,0.190732023530447,True
+lift_board,1,0,0.0,0.2017378765468675,0.0,0.31506911431131934,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.2017378765468675,0.31506911431131934,False
+stir_beaker,1,1,1.0,0.09992180188864296,0.0,0.43450300648349427,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.09992180188864296,0.43450300648349427,True
+pick_spoon_bowl,1,1,1.0,0.07216478837558658,0.0,0.36455831294699426,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.07216478837558658,0.36455831294699426,True
+unplug,1,1,1.0,0.03539984810083745,0.0,0.11705026496839677,0.0,oakink,xhand,bimanual,0.1,0.5,2025-08-30 18:41:52,mjwpeq,0.0,0.03539984810083745,0.11705026496839677,True
diff --git a/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..210b067bfe7376c901dd9a78432cafc32a5fec47
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
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+    <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"/>
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+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
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+    <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"/>
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+    <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"/>
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+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
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+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
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+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
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+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/O02@0206@00001/convex/0.obj"/>
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+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
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+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
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+    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
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+
+  <worldbody>
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+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
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+      <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"/>
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+                    <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                    <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_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_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_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="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/uncap_alcohol_burner/scene_eq.xml b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b9ed2ad508fda90625e2dd65fd8a7e7815814f79
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/scene_eq.xml
@@ -0,0 +1,922 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/O02@0206@00001/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0206@00001/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0206@00001/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0206@00001/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0206@00001/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0206@00001/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0206@00001/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0206@00001/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0206@00002/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0206@00002/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0206@00002/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0206@00002/convex/3.obj"/>
+    <mesh name="right_visual" file="objects/O02@0206@00001/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0206@00002/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.0135767 0.0358624 0.00113103" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0161802 0.0467577 0.000855671" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="-0.00721668 0.0367717 -0.0205952" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.0448951 -0.0143858 2.82062e-05" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="-0.00534919 0.00260074 0.0335189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.00282857 -0.0309225 0.0360705" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_3" name="collision_hand_left_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_4" name="collision_hand_left_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_5" name="collision_hand_left_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_2" name="collision_hand_left_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_3" name="collision_hand_left_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_4" name="collision_hand_left_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_5" name="collision_hand_left_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_6" name="collision_hand_left_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2aa9f2b4d6290e8d0c14840eba912bc1142b908
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/uncap_alcohol_burner/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "uncap_alcohol_burner",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/unplug/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/unplug/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3891c11433ab5a29ccffad590396f58d11771ea4
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/trajectory_ikrollout.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75da30a1a773e4abf295091753226b3cb7633b897e9b6482f7734ec8aeabbb1f
+size 157062
diff --git a/processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic.npz b/processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic.npz
new file mode 100644
index 0000000000000000000000000000000000000000..982019c746d912704e37235221dbc864af3f7e2e
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/trajectory_kinematic.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff077dc7a0e11e707565ff13d020c347195ff6b234a89638a4b3f64f18dbf30
+size 717804
diff --git a/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwp.npz b/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwp.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07ae22e12fe8c68f490c47c3865695b5b3e8cd5e
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwp.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b036f52c58c22ba426dec318fd2242c0046fd97969570d478d4ee05e898059b
+size 883978
diff --git a/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwpeq.npz b/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwpeq.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c4a3d21a53d34b50c64852957d0e3985c39da2f5
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/trajectory_mjwpeq.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5177c12dedddabca51a2d3a1e19e4d781389c83e7b4c375ea468607a9ee70684
+size 883978
diff --git a/processed/oakink/xhand/bimanual/unplug/0/visualization_ik.mp4 b/processed/oakink/xhand/bimanual/unplug/0/visualization_ik.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b364e668c3b96ba1edf9223b64b11842e7ad2ec1
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/visualization_ik.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ba187c996f081729e431a446ba2560de1960e26bdfb35fe02c5c730b8628cc
+size 254993
diff --git a/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwp.mp4 b/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwp.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..759f43d27a155a44ef524d20e1c09327325fa711
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwp.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8951d68556aef56aff9fd2b52fdeaef6ce28a0d6b393e3f3276d1f06d6f08380
+size 405837
diff --git a/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwpeq.mp4 b/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwpeq.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f2799aac1507f2d19a9e573b0ace63fd4abd95d
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/0/visualization_mjwpeq.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f32504e223d72d7430c207609d004ce22cb1205bb7602038e31687d9f6bd7b4
+size 306680
diff --git a/processed/oakink/xhand/bimanual/unplug/scene.xml b/processed/oakink/xhand/bimanual/unplug/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aca998eb022a57037702af6494659d80b82d01e8
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/scene.xml
@@ -0,0 +1,1039 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_middle_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_middle_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_1" name="collision_hand_right_middle_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_index_0" name="collision_hand_right_middle_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_middle_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_middle_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_middle_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_middle_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/unplug/scene_eq.xml b/processed/oakink/xhand/bimanual/unplug/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b470a3ccc046175a6abda16711a6af05e5779ba8
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/scene_eq.xml
@@ -0,0 +1,1062 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
+    <mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
+    <mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
+    <mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
+    <mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
+    <mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
+    <mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
+    <mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
+    <mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
+    <mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
+    <mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
+    <mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
+    <mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
+    <mesh name="left_hand_link" content_type="model/stl" file="robots/xhand/assets/left_hand_link.STL"/>
+    <mesh name="left_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_bend_link.STL"/>
+    <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link1.STL"/>
+    <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_thumb_rota_link2.STL"/>
+    <mesh name="left_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/left_hand_index_bend_link.STL"/>
+    <mesh name="left_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link1.STL"/>
+    <mesh name="left_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_index_rota_link2.STL"/>
+    <mesh name="left_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link1.STL"/>
+    <mesh name="left_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_mid_link2.STL"/>
+    <mesh name="left_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link1.STL"/>
+    <mesh name="left_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_ring_link2.STL"/>
+    <mesh name="left_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link1.STL"/>
+    <mesh name="left_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/left_hand_pinky_link2.STL"/>
+    <mesh name="right_0" file="objects/O02@0047@00002/convex/0.obj"/>
+    <mesh name="right_1" file="objects/O02@0047@00002/convex/1.obj"/>
+    <mesh name="right_2" file="objects/O02@0047@00002/convex/2.obj"/>
+    <mesh name="right_3" file="objects/O02@0047@00002/convex/3.obj"/>
+    <mesh name="right_4" file="objects/O02@0047@00002/convex/4.obj"/>
+    <mesh name="right_5" file="objects/O02@0047@00002/convex/5.obj"/>
+    <mesh name="right_6" file="objects/O02@0047@00002/convex/6.obj"/>
+    <mesh name="right_7" file="objects/O02@0047@00002/convex/7.obj"/>
+    <mesh name="left_0" file="objects/O02@0047@00001/convex/0.obj"/>
+    <mesh name="left_1" file="objects/O02@0047@00001/convex/1.obj"/>
+    <mesh name="left_2" file="objects/O02@0047@00001/convex/2.obj"/>
+    <mesh name="left_3" file="objects/O02@0047@00001/convex/3.obj"/>
+    <mesh name="left_4" file="objects/O02@0047@00001/convex/4.obj"/>
+    <mesh name="left_5" file="objects/O02@0047@00001/convex/5.obj"/>
+    <mesh name="left_6" file="objects/O02@0047@00001/convex/6.obj"/>
+    <mesh name="left_7" file="objects/O02@0047@00001/convex/7.obj"/>
+    <mesh name="right_visual" file="objects/O02@0047@00002/visual.obj"/>
+    <mesh name="left_visual" file="objects/O02@0047@00001/visual.obj"/>
+  </asset>
+
+  <worldbody>
+    <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
+    <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
+    <body name="R_forearm_ty_link">
+      <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+      <joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
+      <camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
+      <body name="R_forearm_tz_link">
+        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+        <joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
+        <body name="R_forearm_roll_link">
+          <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+          <joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
+          <body name="R_forearm_pitch_link">
+            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+            <joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
+            <body name="R_forearm_yaw_link">
+              <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
+              <joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
+              <body name="right_hand_link">
+                <inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
+                <joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
+                <geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
+                <geom name="collision_hand_right_palm_0" size="0.03 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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
+      <geom name="right_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
+      <geom name="right_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
+      <geom name="right_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
+      <geom name="right_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
+      <geom name="right_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
+      <geom name="right_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="0.00980974 0.00883008 0.00582814" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="-0.0208242 -0.00835641 0.00256189" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="-0.0212484 -0.02275 -0.0290535" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.0288338 0.00108245 -0.0277366" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.0372056 -0.0122077 -0.0457712" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_ring_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_1" name="collision_hand_right_ring_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_index_0" name="collision_hand_right_ring_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_ring_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_ring_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_ring_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_ring_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_ring_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_3" name="collision_hand_left_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_4" name="collision_hand_left_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_5" name="collision_hand_left_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_6" name="collision_hand_left_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_4" name="collision_hand_left_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_5" name="collision_hand_left_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_6" name="collision_hand_left_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_4" name="collision_hand_left_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_5" name="collision_hand_left_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_6" name="collision_hand_left_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
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+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_0" name="right_object_1_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_1" name="right_object_1_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_2" name="right_object_1_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_3" name="right_object_1_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_4" name="right_object_1_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_5" name="right_object_1_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_6" name="right_object_1_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_1" geom2="left_object_7" name="right_object_1_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_0" name="right_object_2_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_1" name="right_object_2_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_2" name="right_object_2_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_3" name="right_object_2_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_4" name="right_object_2_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_5" name="right_object_2_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_6" name="right_object_2_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_2" geom2="left_object_7" name="right_object_2_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_0" name="right_object_3_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_1" name="right_object_3_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_2" name="right_object_3_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_3" name="right_object_3_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_4" name="right_object_3_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_5" name="right_object_3_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_6" name="right_object_3_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_3" geom2="left_object_7" name="right_object_3_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_0" name="right_object_4_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_1" name="right_object_4_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_2" name="right_object_4_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_3" name="right_object_4_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_4" name="right_object_4_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_5" name="right_object_4_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_6" name="right_object_4_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_4" geom2="left_object_7" name="right_object_4_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_0" name="right_object_5_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_1" name="right_object_5_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_2" name="right_object_5_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_3" name="right_object_5_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_4" name="right_object_5_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_5" name="right_object_5_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_6" name="right_object_5_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_5" geom2="left_object_7" name="right_object_5_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_0" name="right_object_6_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_1" name="right_object_6_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_2" name="right_object_6_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_3" name="right_object_6_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_4" name="right_object_6_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_5" name="right_object_6_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_6" name="right_object_6_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_6" geom2="left_object_7" name="right_object_6_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_0" name="right_object_7_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_1" name="right_object_7_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_2" name="right_object_7_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_3" name="right_object_7_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_4" name="right_object_7_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_5" name="right_object_7_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_6" name="right_object_7_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_7" geom2="left_object_7" name="right_object_7_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/unplug/task_info.json b/processed/oakink/xhand/bimanual/unplug/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6098cf79a5bfd01707a0e40488965069feae4a
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/unplug/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "unplug",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout.npz b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout.npz
new file mode 100644
index 0000000000000000000000000000000000000000..525f3a386a3271ff36960e8d69ce9ff95036c2c7
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/0/trajectory_ikrollout.npz
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+version https://git-lfs.github.com/spec/v1
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+<mujoco model="bimanual">
+  <compiler angle="radian" meshdir="../../../assets/"/>
+
+  <default>
+    <joint armature="1"/>
+    <geom contype="0" conaffinity="0" condim="1" density="800"/>
+    <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
+    <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
+  </default>
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+  <asset>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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" content_type="model/obj" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="left_0" content_type="model/obj" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" content_type="model/obj" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_2" content_type="model/obj" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" content_type="model/obj" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" content_type="model/obj" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" content_type="model/obj" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" content_type="model/obj" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" content_type="model/obj" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0054@00001/visual.obj"/>
+  </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">
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+                  <joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
+                  <geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
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+                    <geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
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+                      <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
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+                  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_palm_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_palm_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_0" name="collision_hand_right_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_1" name="collision_hand_right_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_2" name="collision_hand_right_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_3" name="collision_hand_right_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_4" name="collision_hand_right_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_5" name="collision_hand_right_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_6" name="collision_hand_right_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="left_object_7" name="collision_hand_right_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_0" name="collision_hand_right_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_1" name="collision_hand_right_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_2" name="collision_hand_right_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_3" name="collision_hand_right_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_4" name="collision_hand_right_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_5" name="collision_hand_right_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_6" name="collision_hand_right_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_2" geom2="left_object_7" name="collision_hand_right_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_0" name="collision_hand_right_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_1" name="collision_hand_right_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_2" name="collision_hand_right_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_3" name="collision_hand_right_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_4" name="collision_hand_right_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_5" name="collision_hand_right_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_6" name="collision_hand_right_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_1" geom2="left_object_7" name="collision_hand_right_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_thumb_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_thumb_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_thumb_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_1" name="collision_hand_right_thumb_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_right_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_thumb_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_thumb_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_thumb_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_0" name="collision_hand_right_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_1" name="collision_hand_right_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_2" name="collision_hand_right_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_3" name="collision_hand_right_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_4" name="collision_hand_right_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_5" name="collision_hand_right_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_6" name="collision_hand_right_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_thumb_0" geom2="left_object_7" name="collision_hand_right_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_middle_0" name="collision_hand_left_middle_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_ring_0" name="collision_hand_left_ring_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_0" name="collision_hand_right_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_1" name="collision_hand_right_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_2" name="collision_hand_right_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_3" name="collision_hand_right_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_4" name="collision_hand_right_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_5" name="collision_hand_right_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_6" name="collision_hand_right_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_1" geom2="left_object_7" name="collision_hand_right_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_1" name="collision_hand_right_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_2" name="collision_hand_right_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_3" name="collision_hand_right_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_4" name="collision_hand_right_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_5" name="collision_hand_right_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_6" name="collision_hand_right_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_index_0" geom2="left_object_7" name="collision_hand_right_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_1" name="collision_hand_right_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_2" name="collision_hand_right_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_3" name="collision_hand_right_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_4" name="collision_hand_right_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_5" name="collision_hand_right_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_6" name="collision_hand_right_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_1" geom2="left_object_7" name="collision_hand_right_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/wipe_board/scene_eq.xml b/processed/oakink/xhand/bimanual/wipe_board/scene_eq.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fb324d4f978fcaeb82ec774c828ff7d071b6c8e8
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/scene_eq.xml
@@ -0,0 +1,817 @@
+<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="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
+    <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="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" content_type="model/obj" file="objects/O02@0055@00002/convex/0.obj"/>
+    <mesh name="left_0" content_type="model/obj" file="objects/O02@0054@00001/convex/0.obj"/>
+    <mesh name="left_1" content_type="model/obj" file="objects/O02@0054@00001/convex/1.obj"/>
+    <mesh name="left_2" content_type="model/obj" file="objects/O02@0054@00001/convex/2.obj"/>
+    <mesh name="left_3" content_type="model/obj" file="objects/O02@0054@00001/convex/3.obj"/>
+    <mesh name="left_4" content_type="model/obj" file="objects/O02@0054@00001/convex/4.obj"/>
+    <mesh name="left_5" content_type="model/obj" file="objects/O02@0054@00001/convex/5.obj"/>
+    <mesh name="left_6" content_type="model/obj" file="objects/O02@0054@00001/convex/6.obj"/>
+    <mesh name="left_7" content_type="model/obj" file="objects/O02@0054@00001/convex/7.obj"/>
+    <mesh name="right_visual" content_type="model/obj" file="objects/O02@0055@00002/visual.obj"/>
+    <mesh name="left_visual" content_type="model/obj" file="objects/O02@0054@00001/visual.obj"/>
+  </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="100" rgba="0 1 0 1" mesh="right_0"/>
+      <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
+      <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_thumb_tip" pos="-0.0312345 -0.0141977 0.00797173" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_index_tip" pos="0.0285003 0.00255911 -0.00147702" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_middle_tip" pos="0.0278288 0.00267914 0.0170054" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_ring_tip" pos="0.0281541 0.00645429 0.0328363" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_right_pinky_tip" pos="0.0348449 0.021671 0.0495214" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_thumb_tip" mocap="true">
+      <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_thumb_tip" mocap="true">
+      <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_index_tip" mocap="true">
+      <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_index_tip" mocap="true">
+      <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_middle_tip" mocap="true">
+      <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_middle_tip" mocap="true">
+      <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_ring_tip" mocap="true">
+      <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_ring_tip" mocap="true">
+      <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_right_pinky_tip" mocap="true">
+      <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_right_pinky_tip" mocap="true">
+      <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="left_object">
+      <joint name="left_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
+      <geom name="left_object_0" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_0"/>
+      <geom name="left_object_1" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_1"/>
+      <geom name="left_object_2" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_2"/>
+      <geom name="left_object_3" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_3"/>
+      <geom name="left_object_4" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_4"/>
+      <geom name="left_object_5" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_5"/>
+      <geom name="left_object_6" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_6"/>
+      <geom name="left_object_7" type="mesh" group="3" density="100" rgba="0 1 0 1" mesh="left_7"/>
+      <geom name="left_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="left_visual"/>
+      <site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
+      <site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_thumb_tip" pos="0.109445 0.0657551 -0.0971754" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_index_tip" pos="0.103646 0.0568347 -0.0653812" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_middle_tip" pos="0.107823 0.0497584 -0.097222" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_ring_tip" pos="0.115481 0.052653 -0.112181" group="4" rgba="0 1 0 1"/>
+      <site name="track_object_left_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_thumb_tip" mocap="true">
+      <site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_thumb_tip" mocap="true">
+      <site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_index_tip" mocap="true">
+      <site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_index_tip" mocap="true">
+      <site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_middle_tip" mocap="true">
+      <site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_middle_tip" mocap="true">
+      <site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_ring_tip" mocap="true">
+      <site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_ring_tip" mocap="true">
+      <site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_object_left_pinky_tip" mocap="true">
+      <site name="ref_object_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+    <body name="ref_hand_left_pinky_tip" mocap="true">
+      <site name="ref_hand_left_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_0" name="floor_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_1" name="floor_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_2" name="floor_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_3" name="floor_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_4" name="floor_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_5" name="floor_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_6" name="floor_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="floor" geom2="left_object_7" name="floor_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_palm_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_palm_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_1" name="collision_hand_right_palm_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_right_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_palm_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
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+    <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="left_object_0" name="collision_hand_right_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_1" name="collision_hand_right_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_2" name="collision_hand_right_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_3" name="collision_hand_right_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_4" name="collision_hand_right_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_5" name="collision_hand_right_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_6" name="collision_hand_right_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_middle_0" geom2="left_object_7" name="collision_hand_right_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_1" name="collision_hand_right_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_2" name="collision_hand_right_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_3" name="collision_hand_right_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_4" name="collision_hand_right_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_5" name="collision_hand_right_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_6" name="collision_hand_right_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_1" geom2="left_object_7" name="collision_hand_right_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_ring_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_1" name="collision_hand_right_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_2" name="collision_hand_right_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_3" name="collision_hand_right_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_4" name="collision_hand_right_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_5" name="collision_hand_right_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_6" name="collision_hand_right_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_ring_0" geom2="left_object_7" name="collision_hand_right_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_right_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_1" name="collision_hand_right_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_2" name="collision_hand_right_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_3" name="collision_hand_right_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_4" name="collision_hand_right_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_5" name="collision_hand_right_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_6" name="collision_hand_right_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_1" geom2="left_object_7" name="collision_hand_right_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_0" name="collision_hand_right_pinky_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_1" name="collision_hand_right_pinky_0_collision_hand_left_index_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_index_0" name="collision_hand_right_pinky_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_1" name="collision_hand_right_pinky_0_collision_hand_left_middle_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_middle_0" name="collision_hand_right_pinky_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_1" name="collision_hand_right_pinky_0_collision_hand_left_ring_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_ring_0" name="collision_hand_right_pinky_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_1" name="collision_hand_right_pinky_0_collision_hand_left_pinky_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_0" name="collision_hand_right_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_1" name="collision_hand_right_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_2" name="collision_hand_right_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_3" name="collision_hand_right_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_4" name="collision_hand_right_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_5" name="collision_hand_right_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_6" name="collision_hand_right_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_right_pinky_0" geom2="left_object_7" name="collision_hand_right_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_palm_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_palm_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="right_object_0" name="collision_hand_left_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_0" name="collision_hand_left_palm_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_1" name="collision_hand_left_palm_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_2" name="collision_hand_left_palm_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_3" name="collision_hand_left_palm_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_4" name="collision_hand_left_palm_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_5" name="collision_hand_left_palm_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_6" name="collision_hand_left_palm_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_palm_0" geom2="left_object_7" name="collision_hand_left_palm_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_0" name="collision_hand_left_thumb_2_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_1" name="collision_hand_left_thumb_2_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_2" name="collision_hand_left_thumb_2_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_3" name="collision_hand_left_thumb_2_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_4" name="collision_hand_left_thumb_2_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_5" name="collision_hand_left_thumb_2_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_6" name="collision_hand_left_thumb_2_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_2" geom2="left_object_7" name="collision_hand_left_thumb_2_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="right_object_0" name="collision_hand_left_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_0" name="collision_hand_left_thumb_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_1" name="collision_hand_left_thumb_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_2" name="collision_hand_left_thumb_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_3" name="collision_hand_left_thumb_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_4" name="collision_hand_left_thumb_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_5" name="collision_hand_left_thumb_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_6" name="collision_hand_left_thumb_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_1" geom2="left_object_7" name="collision_hand_left_thumb_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <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="left_object_0" name="collision_hand_left_thumb_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_1" name="collision_hand_left_thumb_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_2" name="collision_hand_left_thumb_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_3" name="collision_hand_left_thumb_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_4" name="collision_hand_left_thumb_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_5" name="collision_hand_left_thumb_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_6" name="collision_hand_left_thumb_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_thumb_0" geom2="left_object_7" name="collision_hand_left_thumb_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="right_object_0" name="collision_hand_left_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_0" name="collision_hand_left_index_1_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_1" name="collision_hand_left_index_1_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_2" name="collision_hand_left_index_1_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_3" name="collision_hand_left_index_1_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_4" name="collision_hand_left_index_1_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_5" name="collision_hand_left_index_1_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_6" name="collision_hand_left_index_1_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_1" geom2="left_object_7" name="collision_hand_left_index_1_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_0" name="collision_hand_left_index_0_left_object_0" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_1" name="collision_hand_left_index_0_left_object_1" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_2" name="collision_hand_left_index_0_left_object_2" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_3" name="collision_hand_left_index_0_left_object_3" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_4" name="collision_hand_left_index_0_left_object_4" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_5" name="collision_hand_left_index_0_left_object_5" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_6" name="collision_hand_left_index_0_left_object_6" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_index_0" geom2="left_object_7" name="collision_hand_left_index_0_left_object_7" condim="4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_0" name="collision_hand_left_middle_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_1" name="collision_hand_left_middle_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_2" name="collision_hand_left_middle_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_3" name="collision_hand_left_middle_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_4" name="collision_hand_left_middle_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_5" name="collision_hand_left_middle_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_6" name="collision_hand_left_middle_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_1" geom2="left_object_7" name="collision_hand_left_middle_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_0" name="collision_hand_left_middle_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_1" name="collision_hand_left_middle_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_2" name="collision_hand_left_middle_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_3" name="collision_hand_left_middle_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_4" name="collision_hand_left_middle_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_5" name="collision_hand_left_middle_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_6" name="collision_hand_left_middle_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_middle_0" geom2="left_object_7" name="collision_hand_left_middle_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_0" name="collision_hand_left_ring_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_1" name="collision_hand_left_ring_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_2" name="collision_hand_left_ring_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_3" name="collision_hand_left_ring_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_4" name="collision_hand_left_ring_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_5" name="collision_hand_left_ring_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_6" name="collision_hand_left_ring_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_1" geom2="left_object_7" name="collision_hand_left_ring_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_0" name="collision_hand_left_ring_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_1" name="collision_hand_left_ring_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_2" name="collision_hand_left_ring_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_3" name="collision_hand_left_ring_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_4" name="collision_hand_left_ring_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_5" name="collision_hand_left_ring_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_6" name="collision_hand_left_ring_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_ring_0" geom2="left_object_7" name="collision_hand_left_ring_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_0" name="collision_hand_left_pinky_1_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_1" name="collision_hand_left_pinky_1_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_2" name="collision_hand_left_pinky_1_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_3" name="collision_hand_left_pinky_1_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_4" name="collision_hand_left_pinky_1_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_5" name="collision_hand_left_pinky_1_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_6" name="collision_hand_left_pinky_1_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_1" geom2="left_object_7" name="collision_hand_left_pinky_1_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_0" name="collision_hand_left_pinky_0_left_object_0" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_1" name="collision_hand_left_pinky_0_left_object_1" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_2" name="collision_hand_left_pinky_0_left_object_2" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_3" name="collision_hand_left_pinky_0_left_object_3" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_4" name="collision_hand_left_pinky_0_left_object_4" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_5" name="collision_hand_left_pinky_0_left_object_5" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_6" name="collision_hand_left_pinky_0_left_object_6" friction="1 1 0.1 0 0"/>
+    <pair geom1="collision_hand_left_pinky_0" geom2="left_object_7" name="collision_hand_left_pinky_0_left_object_7" friction="1 1 0.1 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_0" name="right_object_0_left_object_0" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_1" name="right_object_0_left_object_1" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_2" name="right_object_0_left_object_2" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_3" name="right_object_0_left_object_3" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_4" name="right_object_0_left_object_4" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_5" name="right_object_0_left_object_5" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_6" name="right_object_0_left_object_6" friction="0.01 0.01 0.0001 0 0"/>
+    <pair geom1="right_object_0" geom2="left_object_7" name="right_object_0_left_object_7" friction="0.01 0.01 0.0001 0 0"/>
+  </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/oakink/xhand/bimanual/wipe_board/task_info.json b/processed/oakink/xhand/bimanual/wipe_board/task_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..412c8b58a0773500097bb495800d3f9ba8953b40
--- /dev/null
+++ b/processed/oakink/xhand/bimanual/wipe_board/task_info.json
@@ -0,0 +1,11 @@
+{
+  "task": "wipe_board",
+  "dataset_name": "oakink",
+  "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"
+}
\ No newline at end of file
diff --git a/processed/summary.csv b/processed/summary.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d2f73afb3e366ac945fd13c19421780814e39aad
--- /dev/null
+++ b/processed/summary.csv
@@ -0,0 +1,148 @@
+dataset,robot_type,hand_type,data_type,task,data_id,obj_pos_err,obj_quat_err,success,pos_err_threshold,quat_err_threshold,total_attempts,successful_attempts,success_rate,avg_pos_err,std_pos_err,avg_quat_err,std_quat_err,timestamp
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+oakink,schunk,bimanual,mjwpeq,wipe_board,0,0.05393866736283717,0.12326596823502291,True,0.1,0.5,1,1,1.0,0.05393866736283717,0.0,0.12326596823502291,0.0,2025-08-30 18:41:52
+oakink,schunk,bimanual,mjwpeq,pour_tube,0,0.15887121820661837,0.9509019022743905,False,0.1,0.5,1,0,0.0,0.15887121820661837,0.0,0.9509019022743905,0.0,2025-08-30 18:41:52
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+oakink,schunk,bimanual,mjwpeq,lift_board,0,0.2105216674737201,0.44507956441611435,False,0.1,0.5,1,0,0.0,0.2105216674737201,0.0,0.44507956441611435,0.0,2025-08-30 18:41:52
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+oakink,xhand,bimanual,ikrollout,lift_board,0,0.3920779993933369,0.5490646984269727,False,0.1,0.5,1,0,0.0,0.3920779993933369,0.0,0.5490646984269727,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,ikrollout,stir_beaker,0,0.21382899027328178,1.2133751732516873,False,0.1,0.5,1,0,0.0,0.21382899027328178,0.0,1.2133751732516873,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,ikrollout,pick_spoon_bowl,0,0.0763909674821529,0.8487857113802522,False,0.1,0.5,1,0,0.0,0.0763909674821529,0.0,0.8487857113802522,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,ikrollout,unplug,0,0.06605631974031474,0.8938103368200283,False,0.1,0.5,1,0,0.0,0.06605631974031474,0.0,0.8938103368200283,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwp,wipe_board,0,0.06894689786120774,0.211557975701542,True,0.1,0.5,1,1,1.0,0.06894689786120774,0.0,0.211557975701542,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwp,pour_tube,0,0.16434135375271225,1.0735041060385206,False,0.1,0.5,1,0,0.0,0.16434135375271225,0.0,1.0735041060385206,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwp,uncap_alcohol_burner,0,0.07409536366381025,0.18897392725597748,True,0.1,0.5,1,1,1.0,0.07409536366381025,0.0,0.18897392725597748,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwp,lift_board,0,0.2127722041204902,1.164242648898715,False,0.1,0.5,1,0,0.0,0.2127722041204902,0.0,1.164242648898715,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwp,stir_beaker,0,0.09444028073285361,0.5934550119514312,False,0.1,0.5,1,0,0.0,0.09444028073285361,0.0,0.5934550119514312,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwp,pick_spoon_bowl,0,0.0728260452063445,0.3752225338394662,True,0.1,0.5,1,1,1.0,0.0728260452063445,0.0,0.3752225338394662,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwp,unplug,0,0.035899920771594276,0.11780295511710492,True,0.1,0.5,1,1,1.0,0.035899920771594276,0.0,0.11780295511710492,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwpeq,wipe_board,0,0.07194900048282481,0.21155827392390056,True,0.1,0.5,1,1,1.0,0.07194900048282481,0.0,0.21155827392390056,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwpeq,pour_tube,0,0.15723055028374125,1.009022457077967,False,0.1,0.5,1,0,0.0,0.15723055028374125,0.0,1.009022457077967,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwpeq,uncap_alcohol_burner,0,0.07352785164180735,0.190732023530447,True,0.1,0.5,1,1,1.0,0.07352785164180735,0.0,0.190732023530447,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwpeq,lift_board,0,0.2017378765468675,0.31506911431131934,False,0.1,0.5,1,0,0.0,0.2017378765468675,0.0,0.31506911431131934,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwpeq,stir_beaker,0,0.09992180188864296,0.43450300648349427,True,0.1,0.5,1,1,1.0,0.09992180188864296,0.0,0.43450300648349427,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwpeq,pick_spoon_bowl,0,0.07216478837558658,0.36455831294699426,True,0.1,0.5,1,1,1.0,0.07216478837558658,0.0,0.36455831294699426,0.0,2025-08-30 18:41:52
+oakink,xhand,bimanual,mjwpeq,unplug,0,0.03539984810083745,0.11705026496839677,True,0.1,0.5,1,1,1.0,0.03539984810083745,0.0,0.11705026496839677,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,ikrollout,p44-dog,4,0.05744888916617314,0.10928087022351234,True,0.1,0.5,1,1,1.0,0.05744888916617314,0.0,0.10928087022351234,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,ikrollout,p52-instrument,34,0.13664326452661044,0.18327243143232091,False,0.1,0.5,1,0,0.0,0.13664326452661044,0.0,0.18327243143232091,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,ikrollout,p36-tea,10,0.16576864517388137,1.2042308637137162,False,0.1,0.5,1,0,0.0,0.16576864517388137,0.0,1.2042308637137162,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,mjwp,p44-dog,4,0.045718349104626965,0.10712047594444472,True,0.1,0.5,1,1,1.0,0.045718349104626965,0.0,0.10712047594444472,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,mjwp,p52-instrument,34,0.16161446370588506,0.2524946052448139,False,0.1,0.5,1,0,0.0,0.16161446370588506,0.0,0.2524946052448139,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,mjwp,p36-tea,10,0.1331666008428173,0.794812189497008,False,0.1,0.5,1,0,0.0,0.1331666008428173,0.0,0.794812189497008,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,mjwpeq,p44-dog,4,0.0452994682057118,0.10801519692010961,True,0.1,0.5,1,1,1.0,0.0452994682057118,0.0,0.10801519692010961,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,mjwpeq,p52-instrument,34,0.03774167362745931,0.08407248560538537,True,0.1,0.5,1,1,1.0,0.03774167362745931,0.0,0.08407248560538537,0.0,2025-08-30 18:41:52
+gigahand,allegro,bimanual,mjwpeq,p36-tea,10,0.11702017406439635,0.5724960064982507,False,0.1,0.5,1,0,0.0,0.11702017406439635,0.0,0.5724960064982507,0.0,2025-08-30 18:41:52
+gigahand,ability,bimanual,ikrollout,p44-dog,4,0.2184299738948113,0.36475105920339435,False,0.1,0.5,1,0,0.0,0.2184299738948113,0.0,0.36475105920339435,0.0,2025-08-30 18:41:52
+gigahand,ability,bimanual,ikrollout,p52-instrument,34,0.28505812618712445,0.3484190873954303,False,0.1,0.5,1,0,0.0,0.28505812618712445,0.0,0.3484190873954303,0.0,2025-08-30 18:41:52
+gigahand,ability,bimanual,ikrollout,p36-tea,10,0.1458150394626041,1.5839199671181479,False,0.1,0.5,1,0,0.0,0.1458150394626041,0.0,1.5839199671181479,0.0,2025-08-30 18:41:52
+gigahand,ability,bimanual,mjwpeq,p44-dog,4,0.04578450576266401,0.0751088291255147,True,0.1,0.5,1,1,1.0,0.04578450576266401,0.0,0.0751088291255147,0.0,2025-08-30 18:41:52
+gigahand,ability,bimanual,mjwpeq,p52-instrument,34,0.14911797400679308,0.41723096282674027,False,0.1,0.5,1,0,0.0,0.14911797400679308,0.0,0.41723096282674027,0.0,2025-08-30 18:41:52
+gigahand,ability,bimanual,mjwpeq,p36-tea,10,0.13623398469593997,0.7485452346147734,False,0.1,0.5,1,0,0.0,0.13623398469593997,0.0,0.7485452346147734,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,ikrollout,p44-dog,4,0.16243782660440664,0.29915749193840663,False,0.1,0.5,1,0,0.0,0.16243782660440664,0.0,0.29915749193840663,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,ikrollout,p52-instrument,34,0.06120964878304676,0.23111124530683091,True,0.1,0.5,1,1,1.0,0.06120964878304676,0.0,0.23111124530683091,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,ikrollout,p36-tea,10,0.1326577559544847,0.9287012689205938,False,0.1,0.5,1,0,0.0,0.1326577559544847,0.0,0.9287012689205938,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,mjwp,p44-dog,4,0.02823602501483725,0.05695754735542376,True,0.1,0.5,1,1,1.0,0.02823602501483725,0.0,0.05695754735542376,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,mjwp,p52-instrument,34,0.02999194147731989,0.07650253162709514,True,0.1,0.5,1,1,1.0,0.02999194147731989,0.0,0.07650253162709514,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,mjwp,p36-tea,10,0.1463649398916359,0.6007693949981481,False,0.1,0.5,1,0,0.0,0.1463649398916359,0.0,0.6007693949981481,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,mjwpeq,p44-dog,4,0.02811341850242562,0.05349078388131248,True,0.1,0.5,1,1,1.0,0.02811341850242562,0.0,0.05349078388131248,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,mjwpeq,p52-instrument,34,0.03365059884527611,0.08445663411254296,True,0.1,0.5,1,1,1.0,0.03365059884527611,0.0,0.08445663411254296,0.0,2025-08-30 18:41:52
+gigahand,inspire,bimanual,mjwpeq,p36-tea,10,0.13473950287307318,0.7543910014646089,False,0.1,0.5,1,0,0.0,0.13473950287307318,0.0,0.7543910014646089,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,ikrollout,p44-dog,4,0.6232675112701237,0.9383050596228961,False,0.1,0.5,1,0,0.0,0.6232675112701237,0.0,0.9383050596228961,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,ikrollout,p52-instrument,34,0.4388932610154483,0.6603578403108357,False,0.1,0.5,1,0,0.0,0.4388932610154483,0.0,0.6603578403108357,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,ikrollout,p36-tea,10,0.15255793578294846,1.2695571377945112,False,0.1,0.5,1,0,0.0,0.15255793578294846,0.0,1.2695571377945112,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,mjwp,p44-dog,4,0.040448311693832395,0.07309549715646291,True,0.1,0.5,1,1,1.0,0.040448311693832395,0.0,0.07309549715646291,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,mjwp,p52-instrument,34,0.06434830059241417,0.16171034561728384,True,0.1,0.5,1,1,1.0,0.06434830059241417,0.0,0.16171034561728384,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,mjwp,p36-tea,10,0.13468046608731005,0.7702452261510985,False,0.1,0.5,1,0,0.0,0.13468046608731005,0.0,0.7702452261510985,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,mjwpeq,p44-dog,4,0.059065151195291606,0.13707867336221885,True,0.1,0.5,1,1,1.0,0.059065151195291606,0.0,0.13707867336221885,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,mjwpeq,p52-instrument,34,0.06736726243301921,0.17563847254280526,True,0.1,0.5,1,1,1.0,0.06736726243301921,0.0,0.17563847254280526,0.0,2025-08-30 18:41:52
+gigahand,schunk,bimanual,mjwpeq,p36-tea,10,0.1358287148787073,0.7451442057382436,False,0.1,0.5,1,0,0.0,0.1358287148787073,0.0,0.7451442057382436,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,ikrollout,p44-dog,4,0.24819485532753122,0.4617409288426322,False,0.1,0.5,1,0,0.0,0.24819485532753122,0.0,0.4617409288426322,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,ikrollout,p52-instrument,34,0.10747985437857119,0.27938616426696117,False,0.1,0.5,1,0,0.0,0.10747985437857119,0.0,0.27938616426696117,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,ikrollout,p36-tea,10,0.14882956696827307,1.5831928032132911,False,0.1,0.5,1,0,0.0,0.14882956696827307,0.0,1.5831928032132911,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,mjwp,p44-dog,4,0.04537958062647969,0.07677995666612572,True,0.1,0.5,1,1,1.0,0.04537958062647969,0.0,0.07677995666612572,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,mjwp,p52-instrument,34,0.04486482905143753,0.203680736705342,True,0.1,0.5,1,1,1.0,0.04486482905143753,0.0,0.203680736705342,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,mjwp,p36-tea,10,0.13616807447116278,0.7565250255164515,False,0.1,0.5,1,0,0.0,0.13616807447116278,0.0,0.7565250255164515,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,mjwpeq,p44-dog,4,0.03807266459060254,0.06594192788614571,True,0.1,0.5,1,1,1.0,0.03807266459060254,0.0,0.06594192788614571,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,mjwpeq,p52-instrument,34,0.048070979713597785,0.16349417192646706,True,0.1,0.5,1,1,1.0,0.048070979713597785,0.0,0.16349417192646706,0.0,2025-08-30 18:41:52
+gigahand,xhand,bimanual,mjwpeq,p36-tea,10,0.13654073147312762,0.7312109092762482,False,0.1,0.5,1,0,0.0,0.13654073147312762,0.0,0.7312109092762482,0.0,2025-08-30 18:41:52